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diff --git a/FactoryNumeric/Assets/AssetRaw/Scenes/scene_factoryOne.unity.meta b/FactoryNumeric/Assets/AssetRaw/Scenes/scene_factoryOne.unity.meta new file mode 100644 index 00000000..945ba5a3 --- /dev/null +++ b/FactoryNumeric/Assets/AssetRaw/Scenes/scene_factoryOne.unity.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 3d5f1c9639028d54aa61fb516f7d24b1 +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion.meta b/FactoryNumeric/Assets/Plugins/RootMotion.meta new file mode 100644 index 00000000..f7ee627c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: d9bd989d8fda8564eb25fc8a1f22a110 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker.meta new file mode 100644 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00000000..7d6a9b63 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 490fde02f41ae014abec4edfce28648f +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs new file mode 100644 index 00000000..72ad1f17 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs @@ -0,0 +1,23 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion +{ + + public abstract class AnimationModifier : MonoBehaviour + { + protected Animator animator; + protected Baker baker; + + public virtual void OnInitiate(Baker baker, Animator animator) + { + this.baker = baker; + this.animator = animator; + } + + public virtual void OnStartClip(AnimationClip clip) { } + + public virtual void OnBakerUpdate(float normalizedTime) { } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs.meta new file mode 100644 index 00000000..22a48161 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifier.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3f66200036e67da4998b9ac08649304f +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs new file mode 100644 index 00000000..ec3f0fb9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs @@ -0,0 +1,60 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion +{ + public class AnimationModifierStack : MonoBehaviour + { + public AnimationModifier[] modifiers = new AnimationModifier[0]; + + private Animator animator; + private Baker baker; + + private void Start() + { + animator = GetComponent(); + baker = GetComponent(); + baker.OnStartClip += OnBakerStartClip; + baker.OnUpdateClip += OnBakerUpdateClip; + + foreach (AnimationModifier m in modifiers) + { + m.OnInitiate(baker, animator); + } + } + + private void OnBakerStartClip(AnimationClip clip, float normalizedTime) + { + foreach (AnimationModifier m in modifiers) + { + m.OnStartClip(clip); + } + } + + private void OnBakerUpdateClip(AnimationClip clip, float normalizedTime) + { + foreach (AnimationModifier m in modifiers) + { + if (!m.enabled) continue; + m.OnBakerUpdate(normalizedTime); + } + } + + private void LateUpdate() + { + if (!animator.enabled && !baker.isBaking) return; + if (baker.isBaking && baker.mode == Baker.Mode.AnimationClips) return; + if (animator.runtimeAnimatorController == null) return; + + AnimatorStateInfo info = animator.GetCurrentAnimatorStateInfo(0); + float n = info.normalizedTime; + + foreach (AnimationModifier m in modifiers) + { + if (!m.enabled) continue; + m.OnBakerUpdate(n); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs.meta new file mode 100644 index 00000000..40299ad9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Animation Modifiers/AnimationModifierStack.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: addea154dd3a3e442abb7c12a65ebf8e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs new file mode 100644 index 00000000..d9bc63b0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs @@ -0,0 +1,602 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.Playables; + +#if UNITY_EDITOR +using UnityEditor; +#endif + +namespace RootMotion +{ + /// + /// Base class for animation bakers, handles timing, keyframing and saving AnimationClips. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page3.html")] + [AddComponentMenu("Scripts/RootMotion/Baker")] + public abstract class Baker : MonoBehaviour + { + + // Open the User Manual URL + [ContextMenu("User Manual")] + void OpenUserManual() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page3.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + void OpenScriptReference() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_baker.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() + { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() + { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + [System.Serializable] + public enum Mode + { + AnimationClips = 0, + AnimationStates = 1, + PlayableDirector = 2, + Realtime = 3 + } + + /// + /// In AnimationClips, AnimationStates or PlayableDirector mode - the frame rate at which the animation clip will be sampled. In Realtime mode - the frame rate at which the pose will be sampled. With the latter, the frame rate is not guaranteed if the player is not able to reach it. + /// + [Tooltip("In AnimationClips, AnimationStates or PlayableDirector mode - the frame rate at which the animation clip will be sampled. In Realtime mode - the frame rate at which the pose will be sampled. With the latter, the frame rate is not guaranteed if the player is not able to reach it.")] + [Range(1, 90)] public int frameRate = 30; + + /// + /// Maximum allowed error for keyframe reduction. + /// + [Tooltip("Maximum allowed error for keyframe reduction.")] + [Range(0f, 0.1f)] public float keyReductionError = 0.01f; + + /// + /// AnimationClips mode can be used to bake a batch of AnimationClips directly without the need of setting up an AnimatorController. AnimationStates mode is useful for when you need to set up a more complex rig with layers and AvatarMasks in Mecanim. PlayableDirector mode bakes a Timeline. Realtime mode is for continuous baking of gameplay, ragdoll phsysics or PuppetMaster dynamics. + /// + [Tooltip("AnimationClips mode can be used to bake a batch of AnimationClips directly without the need of setting up an AnimatorController. " + + "AnimationStates mode is useful for when you need to set up a more complex rig with layers and AvatarMasks in Mecanim. " + + "PlayableDirector mode bakes a Timeline. " + + "Realtime mode is for continuous baking of gameplay, ragdoll phsysics or PuppetMaster dynamics.")] + public Mode mode; + + /// + /// AnimationClips to bake. + /// + [Tooltip("AnimationClips to bake.")] + public AnimationClip[] animationClips = new AnimationClip[0]; + + /// + /// The name of the AnimationStates to bake (must be on the base layer) in the Animator (Right-click on this component header and select 'Find Animation States' to have Baker fill those in automatically, required that state names match with the names of the clips used in them). + /// + [Tooltip("The name of the AnimationStates to bake (must be on the base layer) in the Animator above (Right-click on this component header and select 'Find Animation States' to have Baker fill those in automatically, required that state names match with the names of the clips used in them).")] + public string[] animationStates = new string[0]; + + /// + /// The folder to save the baked AnimationClips to. + /// + [Tooltip("The folder to save the baked AnimationClips to.")] + public string saveToFolder = "Assets"; + + /// + /// String that will be added to each clip or animation state name for the saved clip. For example if your animation state/clip names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips. + /// + [Tooltip("String that will be added to each clip or animation state name for the saved clip. For example if your animation state/clip names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips.")] + public string appendName = "_Baked"; + + /// + /// Name of the created AnimationClip file. + /// + [Tooltip("Name of the created AnimationClip file.")] + public string saveName = "Baked Clip"; + + public bool isBaking { get; private set; } + public float bakingProgress { get; private set; } + + [HideInInspector] public Animator animator; + [HideInInspector] public PlayableDirector director; + + public delegate void BakerDelegate(AnimationClip clip, float time); + + public BakerDelegate OnStartClip; + public BakerDelegate OnUpdateClip; + + [System.Serializable] + public class ClipSettings + { + [System.Serializable] + public enum BasedUponRotation + { + Original = 0, + BodyOrientation = 1, + } + + [System.Serializable] + public enum BasedUponY + { + Original = 0, + CenterOfMass = 1, + Feet = 2, + } + + [System.Serializable] + public enum BasedUponXZ + { + Original = 0, + CenterOfMass = 1, + } + + public bool loopTime; + public bool loopBlend; + public float cycleOffset; + public bool loopBlendOrientation; + public BasedUponRotation basedUponRotation; + public float orientationOffsetY; + public bool loopBlendPositionY; + public BasedUponY basedUponY; + public float level; + public bool loopBlendPositionXZ; + public BasedUponXZ basedUponXZ; + public bool mirror; + +#if UNITY_EDITOR + + public void ApplyTo(AnimationClipSettings settings) + { + settings.loopTime = loopTime; + settings.loopBlend = loopBlend; + settings.cycleOffset = cycleOffset; + + settings.loopBlendOrientation = loopBlendOrientation; + settings.keepOriginalOrientation = basedUponRotation == BasedUponRotation.Original; + settings.orientationOffsetY = orientationOffsetY; + + settings.loopBlendPositionY = loopBlendPositionY; + settings.keepOriginalPositionY = basedUponY == BasedUponY.Original; + settings.heightFromFeet = basedUponY == BasedUponY.Feet; + settings.level = level; + + settings.loopBlendPositionXZ = loopBlendPositionXZ; + settings.keepOriginalPositionXZ = basedUponXZ == BasedUponXZ.Original; + + settings.mirror = mirror; + } + +#endif + } + + /// + /// If enabled, baked clips will have the same AnimationClipSettings as the clips used for baking. If disabled, clip settings from below will be applied to all the baked clips. + /// + [Tooltip("If enabled, baked clips will have the same AnimationClipSettings as the clips used for baking. If disabled, clip settings from below will be applied to all the baked clips.")] public bool inheritClipSettings; + + /// + /// AnimationClipSettings applied to the baked animation clip. + /// + [Tooltip("AnimationClipSettings applied to the baked animation clip.")] public ClipSettings clipSettings; + + protected abstract Transform GetCharacterRoot(); + protected abstract void OnStartBaking(); + protected abstract void OnSetLoopFrame(float time); + protected abstract void OnSetCurves(ref AnimationClip clip); + protected abstract void OnSetKeyframes(float time, bool lastFrame); + protected float clipLength { get; private set; } + protected bool addLoopFrame; + +#if UNITY_EDITOR + private AnimationClip[] bakedClips = new AnimationClip[0]; + + private AnimatorStateInfo currentClipStateInfo; + private int currentClipIndex; + + private float startBakingTime; + private float nextKeyframeTime; + private bool firstFrame; + private int clipFrames; + private int clipFrameNo; + private bool setKeyframes; + + private float currentClipTime; + private float clipFrameInterval; +#endif + + // Start baking an animation state, clip or timeline, also called for each next clip in the baking array + public void BakeClip() + { +#if UNITY_EDITOR + if (mode == Mode.AnimationClips && inheritClipSettings) + { + AnimationClipSettings originalSettings = AnimationUtility.GetAnimationClipSettings(animationClips[currentClipIndex]); + addLoopFrame = originalSettings.loopTime; + } + else + { + if (mode == Mode.Realtime) addLoopFrame = clipSettings.loopTime && clipSettings.loopBlend; + else addLoopFrame = clipSettings.loopTime; + } + + StartBaking(); +#endif + } + + public void StartBaking() + { +#if UNITY_EDITOR + + isBaking = true; + nextKeyframeTime = 0f; + + bakingProgress = 0f; + clipFrameNo = 0; + + if (bakedClips.Length == 0) + { + switch (mode) + { + case Mode.AnimationClips: + bakedClips = new AnimationClip[animationClips.Length]; + break; + case Mode.AnimationStates: + bakedClips = new AnimationClip[animationStates.Length]; + break; + default: + bakedClips = new AnimationClip[1]; + break; + } + } + + OnStartBaking(); + + firstFrame = true; + +#endif + } + + public void StopBaking() + { +#if UNITY_EDITOR + + if (!isBaking) return; + + if (addLoopFrame) + { + OnSetLoopFrame(clipLength); + } + + bakedClips[currentClipIndex] = new AnimationClip(); + bakedClips[currentClipIndex].frameRate = frameRate; + + OnSetCurves(ref bakedClips[currentClipIndex]); + + bakedClips[currentClipIndex].EnsureQuaternionContinuity(); + + if (mode == Mode.Realtime) + { + isBaking = false; + SaveClips(); + } + +#endif + } + +#if UNITY_EDITOR + + [ContextMenu("Find Animation States")] + public void FindAnimationStates() + { + animator = GetComponent(); + if (animator == null) + { + Debug.LogError("No Animator found on Baker GameObject. Can not find animation states."); + return; + } + + if (animator.runtimeAnimatorController == null) + { + Debug.LogError("Animator does not have a valid Controller. Can not find animation states."); + return; + } + + var clips = animator.runtimeAnimatorController.animationClips; + animationStates = new string[clips.Length]; + for (int i = 0; i < clips.Length; i++) + { + animationStates[i] = clips[i].name; + } + } + + void Update() + { + // Baking procedure + if (isBaking) + { + if (mode != Mode.Realtime) + { + if (firstFrame) + { + transform.position = Vector3.zero; + transform.rotation = Quaternion.identity; + GetCharacterRoot().position = Vector3.zero; + GetCharacterRoot().rotation = Quaternion.identity; + + StartAnimationUpdate(); + + currentClipTime = 0f; + firstFrame = false; + } + + switch (mode) + { + case Mode.AnimationClips: + clipLength = animationClips[currentClipIndex].length; + bakingProgress = currentClipTime / clipLength; + break; + case Mode.AnimationStates: + currentClipStateInfo = animator.GetCurrentAnimatorStateInfo(0); + bakingProgress = currentClipStateInfo.normalizedTime; + + if (currentClipStateInfo.speed <= 0f) + { + Debug.LogError("Baker can not bake a clip with 0 speed."); + return; + } + + clipLength = currentClipStateInfo.length / currentClipStateInfo.speed / animator.speed; + break; + case Mode.PlayableDirector: + clipLength = (float)director.duration; + bakingProgress = (float)director.time / clipLength; + break; + } + + clipFrames = (int)(clipLength * (frameRate)); + clipFrameInterval = clipLength / (float)(clipFrames); + setKeyframes = true; + + // Stop clip baking if the clip is finished, start baking the next clip if possible + if (clipFrameNo > clipFrames) + { + StopBaking(); + + currentClipIndex++; + if (currentClipIndex >= bakedClips.Length) + { + currentClipIndex = 0; + StopAnimationUpdate(); + isBaking = false; + + SaveClips(); + + return; + } + else + { + BakeClip(); + setKeyframes = false; + } + } + + if (!firstFrame) AnimationUpdate(); + } + } + } + + void LateUpdate() + { + if (!isBaking) return; + + if (mode != Mode.Realtime) + { + if (setKeyframes) + { + OnSetKeyframes(clipFrameNo * clipFrameInterval, clipFrameNo >= clipFrames); + + clipFrameNo++; + setKeyframes = false; + } + } + else + { + if (firstFrame) + { + startBakingTime = Time.time; + firstFrame = false; + } + + if (Time.time < nextKeyframeTime) return; + + OnSetKeyframes(Time.time - startBakingTime, false); + + nextKeyframeTime = Time.time + (1f / (float)frameRate); + } + + } + + private void StartAnimationUpdate() + { + switch (mode) + { + case Mode.AnimationClips: + if (!AnimationMode.InAnimationMode()) AnimationMode.StartAnimationMode(); + AnimationMode.BeginSampling(); + AnimationMode.SampleAnimationClip(gameObject, animationClips[currentClipIndex], 0f); + AnimationMode.EndSampling(); + if (OnStartClip != null) OnStartClip(animationClips[currentClipIndex], 0f); + break; + case Mode.AnimationStates: + animator.enabled = false; + animator.Play(animationStates[currentClipIndex], 0, 0f); + break; + case Mode.PlayableDirector: + director.enabled = false; + director.time = 0f; + director.Evaluate(); + break; + } + } + + private void StopAnimationUpdate() + { + switch (mode) + { + case Mode.AnimationClips: + if (AnimationMode.InAnimationMode()) AnimationMode.StopAnimationMode(); + break; + case Mode.AnimationStates: + animator.enabled = true; + break; + case Mode.PlayableDirector: + director.enabled = true; + break; + } + } + + private void AnimationUpdate() + { + switch (mode) + { + case Mode.AnimationClips: + if (!AnimationMode.InAnimationMode()) AnimationMode.StartAnimationMode(); + AnimationMode.BeginSampling(); + AnimationMode.SampleAnimationClip(gameObject, animationClips[currentClipIndex], currentClipTime); + AnimationMode.EndSampling(); + if (OnUpdateClip != null) OnUpdateClip(animationClips[currentClipIndex], currentClipTime / animationClips[currentClipIndex].length); + currentClipTime += clipFrameInterval; + break; + case Mode.AnimationStates: + animator.Update(clipFrameInterval); + break; + case Mode.PlayableDirector: + director.time = currentClipTime; + director.Evaluate(); + currentClipTime += clipFrameInterval; + break; + } + } + + public void SaveClips() + { + var clips = GetBakedClips(); + AnimationClip savedClip = null; + + for (int i = 0; i < clips.Length; i++) + { + string path = GetFullPath(i); + + if (mode == Mode.AnimationClips && inheritClipSettings) + { + AnimationClipSettings inheritedSettings = AnimationUtility.GetAnimationClipSettings(animationClips[i]); + SetClipSettings(clips[i], inheritedSettings); + AnimationUtility.SetAnimationClipSettings(clips[i], inheritedSettings); + } + else + { + AnimationClipSettings settings = AnimationUtility.GetAnimationClipSettings(clips[i]); + clipSettings.ApplyTo(settings); + SetClipSettings(clips[i], settings); + AnimationUtility.SetAnimationClipSettings(clips[i], settings); + } + + var existing = AssetDatabase.LoadAssetAtPath(path, typeof(AnimationClip)) as AnimationClip; + if (existing != null) + { + // Overwrite + EditorUtility.CopySerialized(clips[i], existing); + } + else + { + // Create new asset + AssetDatabase.CreateAsset(clips[i], path); + } + + /* v2.0 + switch (mode) + { + case Baker.Mode.Realtime: break; + case Baker.Mode.AnimationClips: + AnimationClipSettings originalSettings = AnimationUtility.GetAnimationClipSettings(animationClips[i]); + SetClipSettings(clips[i], originalSettings); + AnimationUtility.SetAnimationClipSettings(clips[i], originalSettings); + break; + default: + AnimationClipSettings settings = AnimationUtility.GetAnimationClipSettings(clips[i]); + settings.loopTime = loop; + SetClipSettings(clips[i], settings); + AnimationUtility.SetAnimationClipSettings(clips[i], settings); + break; + } + + var existing = AssetDatabase.LoadAssetAtPath(path, typeof(AnimationClip)) as AnimationClip; + if (existing != null) + { + // Overwrite with existing settings + AnimationClipSettings existingSettings = AnimationUtility.GetAnimationClipSettings(existing); + existingSettings.stopTime = clips[i].length; + AnimationUtility.SetAnimationClipSettings(clips[i], existingSettings); + EditorUtility.CopySerialized(clips[i], existing); + } + else + { + // Create new asset + AssetDatabase.CreateAsset(clips[i], path); + } + */ + + AssetDatabase.SaveAssets(); + AssetDatabase.Refresh(); + + savedClip = AssetDatabase.LoadAssetAtPath(path, typeof(AnimationClip)) as AnimationClip; + + Debug.Log(path + " successfully baked."); + } + + Selection.activeObject = savedClip; + + ClearBakedClips(); + } + + protected virtual void SetClipSettings(AnimationClip clip, AnimationClipSettings settings) { } + + private string GetFullPath(int clipIndex) + { + switch (mode) + { + case Baker.Mode.AnimationClips: + return saveToFolder + "/" + animationClips[clipIndex].name + appendName + ".anim"; + case Baker.Mode.AnimationStates: + return saveToFolder + "/" + animationStates[clipIndex] + appendName + ".anim"; + case Baker.Mode.PlayableDirector: + return saveToFolder + "/" + saveName + ".anim"; + default: + return saveToFolder + "/" + saveName + ".anim"; + } + } + + private AnimationClip[] GetBakedClips() + { + return bakedClips; + } + + private void ClearBakedClips() + { + bakedClips = new AnimationClip[0]; + } + +#endif + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs.meta new file mode 100644 index 00000000..9bdbea62 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Baker.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: ab14efce3fefe4f4982f0fa6911d0cd4 +timeCreated: 1516617114 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs new file mode 100644 index 00000000..52602995 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs @@ -0,0 +1,134 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion +{ + /// + /// Baker for Generic/Legacy animation. + /// + public class GenericBaker : Baker + { + /// + /// If true, produced AnimationClips will be marked as Legacy and usable with the Legacy animation system. + /// + [Tooltip("If true, produced AnimationClips will be marked as Legacy and usable with the Legacy animation system.")] + public bool markAsLegacy; + + /// + /// Root Transform of the hierarchy to bake. + /// + [Tooltip("Root Transform of the hierarchy to bake.")] + public Transform root; + + /// + /// Root Node used for root motion. + /// + [Tooltip("Root Node used for root motion.")] + public Transform rootNode; + + /// + /// List of Transforms to ignore, rotation curves will not be baked for these Transforms. + /// + [Tooltip("List of Transforms to ignore, rotation curves will not be baked for these Transforms.")] + public Transform[] ignoreList; + + /// + /// LocalPosition curves will be baked for these Transforms only. If you are baking a character, the pelvis bone should be added to this array. + /// + [Tooltip("LocalPosition curves will be baked for these Transforms only. If you are baking a character, the pelvis bone should be added to this array.")] + public Transform[] bakePositionList; + + private BakerTransform[] children = new BakerTransform[0]; + private BakerTransform rootChild; + private int rootChildIndex = -1; + + void Awake() + { + // Find all the child Transforms of the Animator + Transform[] childrenAndRoot = (Transform[])root.GetComponentsInChildren(); + + children = new BakerTransform[0]; + + // Exlude the ignore list, construct the children array + for (int i = 0; i < childrenAndRoot.Length; i++) + { + if (!IsIgnored(childrenAndRoot[i])) + { + + Array.Resize(ref children, children.Length + 1); + + bool isRootNode = childrenAndRoot[i] == rootNode; + if (isRootNode) rootChildIndex = children.Length - 1; + + children[children.Length - 1] = new BakerTransform(childrenAndRoot[i], root, BakePosition(childrenAndRoot[i]), isRootNode); + } + } + } + + protected override Transform GetCharacterRoot() + { + return root; + } + + protected override void OnStartBaking() + { + for (int i = 0; i < children.Length; i++) + { + children[i].Reset(); + + if (i == rootChildIndex) children[i].SetRelativeSpace(root.position, root.rotation); + } + } + + protected override void OnSetLoopFrame(float time) + { + // TODO Change to SetLoopFrame like in HumanoidBaker + for (int i = 0; i < children.Length; i++) children[i].AddLoopFrame(time); + } + + protected override void OnSetCurves(ref AnimationClip clip) + { + // TODO Length Multiplier + + for (int i = 0; i < children.Length; i++) children[i].SetCurves(ref clip, keyReductionError); + } + + protected override void OnSetKeyframes(float time, bool lastFrame) + { + for (int i = 0; i < children.Length; i++) children[i].SetKeyframes(time); + } + + // Is the specified Transform in the ignore list? + private bool IsIgnored(Transform t) + { + for (int i = 0; i < ignoreList.Length; i++) + { + if (t == ignoreList[i]) return true; + } + return false; + } + + // Should we record the localPosition channels of the Transform? + private bool BakePosition(Transform t) + { + for (int i = 0; i < bakePositionList.Length; i++) + { + if (t == bakePositionList[i]) return true; + } + return false; + } + +#if UNITY_EDITOR + protected override void SetClipSettings(AnimationClip clip, UnityEditor.AnimationClipSettings settings) + { + clip.legacy = markAsLegacy; + + if (mode != Baker.Mode.AnimationClips) + { + clip.wrapMode = settings.loopTime ? WrapMode.Loop : WrapMode.Default; + } + } +#endif + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs.meta new file mode 100644 index 00000000..6052c9a1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/GenericBaker.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 27b32efee52144c4e934e6c3272ceb2c +timeCreated: 1516356533 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 15001 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers.meta new file mode 100644 index 00000000..32d698f5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: e468ef7e80a87f94588b5eeb3a423b91 +folderAsset: yes +timeCreated: 1516621025 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs new file mode 100644 index 00000000..0b1570fe --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs @@ -0,0 +1,128 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using System; +using System.Reflection; + +namespace RootMotion +{ + public class TQ + { + public TQ() { } + + public TQ(Vector3 translation, Quaternion rotation) + { + t = translation; + q = rotation; + } + + public Vector3 t; + public Quaternion q; + } + + /* + Written with the kind help of the one commonly known as Mecanim-Dev. + */ + public class AvatarUtility + { + + public static Quaternion GetPostRotation(Avatar avatar, AvatarIKGoal avatarIKGoal) + { + int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal); + if (humanId == (int)HumanBodyBones.LastBone) throw new InvalidOperationException("Invalid human id."); + + MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic); + if (methodGetPostRotation == null) throw new InvalidOperationException("Cannot find GetPostRotation method."); + + return (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId }); + } + + /// + /// Get IK position and rotation for foot/hand bone position/rotation. + /// + public static TQ GetIKGoalTQ(Avatar avatar, float humanScale, AvatarIKGoal avatarIKGoal, TQ bodyPositionRotation, TQ boneTQ) + { + int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal); + if (humanId == (int)HumanBodyBones.LastBone) throw new InvalidOperationException("Invalid human id."); + + MethodInfo methodGetAxisLength = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic); + if (methodGetAxisLength == null) throw new InvalidOperationException("Cannot find GetAxisLength method."); + + MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic); + if (methodGetPostRotation == null) throw new InvalidOperationException("Cannot find GetPostRotation method."); + + Quaternion postRotation = (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId }); + + var goalTQ = new TQ(boneTQ.t, boneTQ.q * postRotation); + + if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot) + { + // Here you could use animator.leftFeetBottomHeight or animator.rightFeetBottomHeight rather than GetAxisLenght + // Both are equivalent but GetAxisLength is the generic way and work for all human bone + float axislength = (float)methodGetAxisLength.Invoke(avatar, new object[] { humanId }); + Vector3 footBottom = new Vector3(axislength, 0, 0); + goalTQ.t += (goalTQ.q * footBottom); + } + + // IK goal are in avatar body local space + Quaternion invRootQ = Quaternion.Inverse(bodyPositionRotation.q); + goalTQ.t = invRootQ * (goalTQ.t - bodyPositionRotation.t); + goalTQ.q = invRootQ * goalTQ.q; + goalTQ.t /= humanScale; + + goalTQ.q = Quaternion.LookRotation(goalTQ.q * Vector3.forward, goalTQ.q * Vector3.up); + + return goalTQ; + } + + public static TQ WorldSpaceIKGoalToBone(TQ goalTQ, Avatar avatar, AvatarIKGoal avatarIKGoal) + { + int humanId = (int)HumanIDFromAvatarIKGoal(avatarIKGoal); + if (humanId == (int)HumanBodyBones.LastBone) throw new InvalidOperationException("Invalid human id."); + + MethodInfo methodGetAxisLength = typeof(Avatar).GetMethod("GetAxisLength", BindingFlags.Instance | BindingFlags.NonPublic); + if (methodGetAxisLength == null) throw new InvalidOperationException("Cannot find GetAxisLength method."); + + MethodInfo methodGetPostRotation = typeof(Avatar).GetMethod("GetPostRotation", BindingFlags.Instance | BindingFlags.NonPublic); + if (methodGetPostRotation == null) throw new InvalidOperationException("Cannot find GetPostRotation method."); + + Quaternion postRotation = (Quaternion)methodGetPostRotation.Invoke(avatar, new object[] { humanId }); + + if (avatarIKGoal == AvatarIKGoal.LeftFoot || avatarIKGoal == AvatarIKGoal.RightFoot) + { + // Here you could use animator.leftFeetBottomHeight or animator.rightFeetBottomHeight rather than GetAxisLenght + // Both are equivalent but GetAxisLength is the generic way and work for all human bone + float axislength = (float)methodGetAxisLength.Invoke(avatar, new object[] { humanId }); + Vector3 footBottom = new Vector3(axislength, 0, 0); + goalTQ.t -= (goalTQ.q * footBottom); + } + + TQ boneTQ = new TQ(goalTQ.t, goalTQ.q * Quaternion.Inverse(postRotation)); + + return boneTQ; + } + + public static TQ GetWorldSpaceIKGoal(BakerHumanoidQT ikQT, BakerHumanoidQT rootQT, float time, float humanScale) + { + var tq = ikQT.Evaluate(time); + var rTQ = rootQT.Evaluate(time); + + tq.q = rTQ.q * tq.q; + tq.t = rTQ.t + rTQ.q * tq.t; + tq.t *= humanScale; + return tq; + } + + public static HumanBodyBones HumanIDFromAvatarIKGoal(AvatarIKGoal avatarIKGoal) + { + switch (avatarIKGoal) + { + case AvatarIKGoal.LeftFoot: return HumanBodyBones.LeftFoot; + case AvatarIKGoal.RightFoot: return HumanBodyBones.RightFoot; + case AvatarIKGoal.LeftHand: return HumanBodyBones.LeftHand; + case AvatarIKGoal.RightHand: return HumanBodyBones.RightHand; + default: return HumanBodyBones.LastBone; + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs.meta new file mode 100644 index 00000000..cc206016 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/AvatarUtility.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 2f9e403f0f8255c42b90254abc55f528 +timeCreated: 1516435305 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs new file mode 100644 index 00000000..8598a827 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs @@ -0,0 +1,651 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion +{ + public static class BakerUtilities + { + + public static void ReduceKeyframes(AnimationCurve curve, float maxError) + { + if (maxError <= 0f) return; + + curve.keys = GetReducedKeyframes(curve, maxError); + + // TODO Flatten outTangent for keys that have the next key and testAfter sampled to the same value in the original clip. Same thing for the inTangent + } + + public static Keyframe[] GetReducedKeyframes(AnimationCurve curve, float maxError) + { + Keyframe[] keys = curve.keys; + + int i = 1; + while (i < keys.Length - 1 && keys.Length > 2) + { + Keyframe[] testKeys = new Keyframe[keys.Length - 1]; + int c = 0; + for (int n = 0; n < keys.Length; n++) + { + if (i != n) + { + testKeys[c] = new Keyframe(keys[n].time, keys[n].value, keys[n].inTangent, keys[n].outTangent); + c++; + } + } + + AnimationCurve testCurve = new AnimationCurve(); + testCurve.keys = testKeys; + + float test0 = Mathf.Abs(testCurve.Evaluate(keys[i].time) - keys[i].value); + float beforeTime = keys[i].time + (keys[i - 1].time - keys[i].time) * 0.5f; + float afterTime = keys[i].time + (keys[i + 1].time - keys[i].time) * 0.5f; + + float testBefore = Mathf.Abs(testCurve.Evaluate(beforeTime) - curve.Evaluate(beforeTime)); + float testAfter = Mathf.Abs(testCurve.Evaluate(afterTime) - curve.Evaluate(afterTime)); + + if (test0 < maxError && testBefore < maxError && testAfter < maxError) + { + keys = testKeys; + } + else + { + i++; + } + } + + return keys; + } + + public static void SetLoopFrame(float time, AnimationCurve curve) + { + /* + Keyframe[] keys = curve.keys; + keys[keys.Length - 1].value = keys[0].value; + + keys[keys.Length - 1].inTangent = keys[0].inTangent; + keys[keys.Length - 1].outTangent = keys[0].outTangent; + + keys[keys.Length - 1].time = time; + curve.keys = keys; + */ + + Keyframe[] keys = curve.keys; + keys[keys.Length - 1].value = keys[0].value; + + float inTangent = Mathf.Lerp(keys[0].inTangent, keys[keys.Length - 1].inTangent, 0.5f); + keys[0].inTangent = inTangent; + keys[keys.Length - 1].inTangent = inTangent; + + float outTangent = Mathf.Lerp(keys[0].outTangent, keys[keys.Length - 1].outTangent, 0.5f); + keys[0].outTangent = outTangent; + keys[keys.Length - 1].outTangent = outTangent; + + keys[keys.Length - 1].time = time; + curve.keys = keys; + } + + public static void SetTangentMode(AnimationCurve curve) + { +#if UNITY_EDITOR + + if (curve.length < 2) return; + + for (int i = 1; i < curve.length - 1; i++) + { + UnityEditor.AnimationUtility.SetKeyLeftTangentMode(curve, i, UnityEditor.AnimationUtility.TangentMode.ClampedAuto); + UnityEditor.AnimationUtility.SetKeyRightTangentMode(curve, i, UnityEditor.AnimationUtility.TangentMode.ClampedAuto); + } + +#endif + } + + // Realigns quaternion keys to ensure shortest interpolation paths. + public static Quaternion EnsureQuaternionContinuity(Quaternion lastQ, Quaternion q) + { + Quaternion flipped = new Quaternion(-q.x, -q.y, -q.z, -q.w); + + Quaternion midQ = new Quaternion( + Mathf.Lerp(lastQ.x, q.x, 0.5f), + Mathf.Lerp(lastQ.y, q.y, 0.5f), + Mathf.Lerp(lastQ.z, q.z, 0.5f), + Mathf.Lerp(lastQ.w, q.w, 0.5f) + ); + + Quaternion midQFlipped = new Quaternion( + Mathf.Lerp(lastQ.x, flipped.x, 0.5f), + Mathf.Lerp(lastQ.y, flipped.y, 0.5f), + Mathf.Lerp(lastQ.z, flipped.z, 0.5f), + Mathf.Lerp(lastQ.w, flipped.w, 0.5f) + ); + + float angle = Quaternion.Angle(lastQ, midQ); + float angleFlipped = Quaternion.Angle(lastQ, midQFlipped); + + return angleFlipped < angle ? flipped : q; + } + } + + //Manages the Animation Curves for Humanoid Q/T channels. + [System.Serializable] + public class BakerHumanoidQT + { + + private Transform transform; + private string Qx, Qy, Qz, Qw; + private string Tx, Ty, Tz; + + // Animation curves for each channel of the Transform + public AnimationCurve rotX, rotY, rotZ, rotW; + public AnimationCurve posX, posY, posZ; + + private AvatarIKGoal goal; + private Quaternion lastQ; + private bool lastQSet; + + // The custom constructor + public BakerHumanoidQT(string name) + { + Qx = name + "Q.x"; + Qy = name + "Q.y"; + Qz = name + "Q.z"; + Qw = name + "Q.w"; + + Tx = name + "T.x"; + Ty = name + "T.y"; + Tz = name + "T.z"; + + Reset(); + } + + public BakerHumanoidQT(Transform transform, AvatarIKGoal goal, string name) + { + this.transform = transform; + this.goal = goal; + + Qx = name + "Q.x"; + Qy = name + "Q.y"; + Qz = name + "Q.z"; + Qw = name + "Q.w"; + + Tx = name + "T.x"; + Ty = name + "T.y"; + Tz = name + "T.z"; + + Reset(); + } + + public Quaternion EvaluateRotation(float time) + { + Quaternion q = new Quaternion(rotX.Evaluate(time), rotY.Evaluate(time), rotZ.Evaluate(time), rotW.Evaluate(time)); + return q; + //return q.normalized; + } + + public Vector3 EvaluatePosition(float time) + { + return new Vector3(posX.Evaluate(time), posY.Evaluate(time), posZ.Evaluate(time)); + } + + public TQ Evaluate(float time) + { + return new TQ(EvaluatePosition(time), EvaluateRotation(time)); + } + + public void GetCurvesFromClip(AnimationClip clip, Animator animator) + { +#if UNITY_EDITOR + rotX = GetEditorCurve(clip, Qx); + rotY = GetEditorCurve(clip, Qy); + rotZ = GetEditorCurve(clip, Qz); + rotW = GetEditorCurve(clip, Qw); + + posX = GetEditorCurve(clip, Tx); + posY = GetEditorCurve(clip, Ty); + posZ = GetEditorCurve(clip, Tz); +#endif + } + +#if UNITY_EDITOR + private AnimationCurve GetEditorCurve(AnimationClip clip, string propertyPath) + { + var binding = UnityEditor.EditorCurveBinding.FloatCurve(string.Empty, typeof(Animator), propertyPath); + return UnityEditor.AnimationUtility.GetEditorCurve(clip, binding); + } +#endif + + // Clear all curves + public void Reset() + { + rotX = new AnimationCurve(); + rotY = new AnimationCurve(); + rotZ = new AnimationCurve(); + rotW = new AnimationCurve(); + + posX = new AnimationCurve(); + posY = new AnimationCurve(); + posZ = new AnimationCurve(); + + lastQ = Quaternion.identity; + lastQSet = false; + } + + public void SetIKKeyframes(float time, Avatar avatar, Transform root, float humanScale, Vector3 bodyPosition, Quaternion bodyRotation) + { + Vector3 bonePos = transform.position; + Quaternion boneRot = transform.rotation; + + if (root.parent != null) + { + bonePos = root.parent.InverseTransformPoint(bonePos); + boneRot = Quaternion.Inverse(root.parent.rotation) * boneRot; + } + + TQ IKTQ = AvatarUtility.GetIKGoalTQ(avatar, humanScale, goal, new TQ(bodyPosition, bodyRotation), new TQ(bonePos, boneRot)); + + Quaternion rot = IKTQ.q; + if (lastQSet) rot = BakerUtilities.EnsureQuaternionContinuity(lastQ, IKTQ.q); + + //rot.Normalize(); + + lastQ = rot; + lastQSet = true; + + rotX.AddKey(time, rot.x); + rotY.AddKey(time, rot.y); + rotZ.AddKey(time, rot.z); + rotW.AddKey(time, rot.w); + + Vector3 pos = IKTQ.t; + posX.AddKey(time, pos.x); + posY.AddKey(time, pos.y); + posZ.AddKey(time, pos.z); + } + + public void SetKeyframes(float time, Vector3 pos, Quaternion rot) + { + // Rotation flipping already prevented in HumanoidBaker.UpdateHumanPose(). + rotX.AddKey(time, rot.x); + rotY.AddKey(time, rot.y); + rotZ.AddKey(time, rot.z); + rotW.AddKey(time, rot.w); + + posX.AddKey(time, pos.x); + posY.AddKey(time, pos.y); + posZ.AddKey(time, pos.z); + } + + public void MoveLastKeyframes(float time) + { + MoveLastKeyframe(time, rotX); + MoveLastKeyframe(time, rotY); + MoveLastKeyframe(time, rotZ); + MoveLastKeyframe(time, rotW); + + MoveLastKeyframe(time, posX); + MoveLastKeyframe(time, posY); + MoveLastKeyframe(time, posZ); + } + + // Add a copy of the first frame to the specified time + public void SetLoopFrame(float time) + { + BakerUtilities.SetLoopFrame(time, rotX); + BakerUtilities.SetLoopFrame(time, rotY); + BakerUtilities.SetLoopFrame(time, rotZ); + BakerUtilities.SetLoopFrame(time, rotW); + + BakerUtilities.SetLoopFrame(time, posX); + BakerUtilities.SetLoopFrame(time, posY); + BakerUtilities.SetLoopFrame(time, posZ); + } + + public void SetRootLoopFrame(float time) + { + /* + // TODO Should be based on AnimationClipSettings + BakerUtilities.SetLoopFrame(time, rotX); + BakerUtilities.SetLoopFrame(time, rotY); + BakerUtilities.SetLoopFrame(time, rotZ); + BakerUtilities.SetLoopFrame(time, rotW); + + BakerUtilities.SetLoopFrame(time, posY); + */ + } + + private void MoveLastKeyframe(float time, AnimationCurve curve) + { + Keyframe[] keys = curve.keys; + keys[keys.Length - 1].time = time; + curve.keys = keys; + } + + public void MultiplyLength(AnimationCurve curve, float mlp) + { + Keyframe[] keys = curve.keys; + for (int i = 0; i < keys.Length; i++) + { + keys[i].time *= mlp; + } + curve.keys = keys; + } + + // Add curves to the AnimationClip for each channel + public void SetCurves(ref AnimationClip clip, float maxError, float lengthMlp) + { + MultiplyLength(rotX, lengthMlp); + MultiplyLength(rotY, lengthMlp); + MultiplyLength(rotZ, lengthMlp); + MultiplyLength(rotW, lengthMlp); + + MultiplyLength(posX, lengthMlp); + MultiplyLength(posY, lengthMlp); + MultiplyLength(posZ, lengthMlp); + + BakerUtilities.ReduceKeyframes(rotX, maxError); + BakerUtilities.ReduceKeyframes(rotY, maxError); + BakerUtilities.ReduceKeyframes(rotZ, maxError); + BakerUtilities.ReduceKeyframes(rotW, maxError); + + BakerUtilities.ReduceKeyframes(posX, maxError); + BakerUtilities.ReduceKeyframes(posY, maxError); + BakerUtilities.ReduceKeyframes(posZ, maxError); + + BakerUtilities.SetTangentMode(rotX); + BakerUtilities.SetTangentMode(rotY); + BakerUtilities.SetTangentMode(rotZ); + BakerUtilities.SetTangentMode(rotW); + + /* + BakerUtilities.SetTangentMode(posX); + BakerUtilities.SetTangentMode(posY); + BakerUtilities.SetTangentMode(posZ); + */ + + clip.SetCurve(string.Empty, typeof(Animator), Qx, rotX); + clip.SetCurve(string.Empty, typeof(Animator), Qy, rotY); + clip.SetCurve(string.Empty, typeof(Animator), Qz, rotZ); + clip.SetCurve(string.Empty, typeof(Animator), Qw, rotW); + + clip.SetCurve(string.Empty, typeof(Animator), Tx, posX); + clip.SetCurve(string.Empty, typeof(Animator), Ty, posY); + clip.SetCurve(string.Empty, typeof(Animator), Tz, posZ); + } + } + + // Manages the Animation Curves for a single Transform that is a child of the root Transform. + [System.Serializable] + public class BakerMuscle + { + + // Animation curves for each channel of the Transform + public AnimationCurve curve; + + private int muscleIndex = -1; + private string propertyName; + + // The custom constructor + public BakerMuscle(int muscleIndex) + { + this.muscleIndex = muscleIndex; + this.propertyName = MuscleNameToPropertyName(HumanTrait.MuscleName[muscleIndex]); + + Reset(); + } + + private string MuscleNameToPropertyName(string n) + { + // Left fingers + if (n == "Left Index 1 Stretched") return "LeftHand.Index.1 Stretched"; + if (n == "Left Index 2 Stretched") return "LeftHand.Index.2 Stretched"; + if (n == "Left Index 3 Stretched") return "LeftHand.Index.3 Stretched"; + + if (n == "Left Middle 1 Stretched") return "LeftHand.Middle.1 Stretched"; + if (n == "Left Middle 2 Stretched") return "LeftHand.Middle.2 Stretched"; + if (n == "Left Middle 3 Stretched") return "LeftHand.Middle.3 Stretched"; + + if (n == "Left Ring 1 Stretched") return "LeftHand.Ring.1 Stretched"; + if (n == "Left Ring 2 Stretched") return "LeftHand.Ring.2 Stretched"; + if (n == "Left Ring 3 Stretched") return "LeftHand.Ring.3 Stretched"; + + if (n == "Left Little 1 Stretched") return "LeftHand.Little.1 Stretched"; + if (n == "Left Little 2 Stretched") return "LeftHand.Little.2 Stretched"; + if (n == "Left Little 3 Stretched") return "LeftHand.Little.3 Stretched"; + + if (n == "Left Thumb 1 Stretched") return "LeftHand.Thumb.1 Stretched"; + if (n == "Left Thumb 2 Stretched") return "LeftHand.Thumb.2 Stretched"; + if (n == "Left Thumb 3 Stretched") return "LeftHand.Thumb.3 Stretched"; + + if (n == "Left Index Spread") return "LeftHand.Index.Spread"; + if (n == "Left Middle Spread") return "LeftHand.Middle.Spread"; + if (n == "Left Ring Spread") return "LeftHand.Ring.Spread"; + if (n == "Left Little Spread") return "LeftHand.Little.Spread"; + if (n == "Left Thumb Spread") return "LeftHand.Thumb.Spread"; + + // Right fingers + if (n == "Right Index 1 Stretched") return "RightHand.Index.1 Stretched"; + if (n == "Right Index 2 Stretched") return "RightHand.Index.2 Stretched"; + if (n == "Right Index 3 Stretched") return "RightHand.Index.3 Stretched"; + + if (n == "Right Middle 1 Stretched") return "RightHand.Middle.1 Stretched"; + if (n == "Right Middle 2 Stretched") return "RightHand.Middle.2 Stretched"; + if (n == "Right Middle 3 Stretched") return "RightHand.Middle.3 Stretched"; + + if (n == "Right Ring 1 Stretched") return "RightHand.Ring.1 Stretched"; + if (n == "Right Ring 2 Stretched") return "RightHand.Ring.2 Stretched"; + if (n == "Right Ring 3 Stretched") return "RightHand.Ring.3 Stretched"; + + if (n == "Right Little 1 Stretched") return "RightHand.Little.1 Stretched"; + if (n == "Right Little 2 Stretched") return "RightHand.Little.2 Stretched"; + if (n == "Right Little 3 Stretched") return "RightHand.Little.3 Stretched"; + + if (n == "Right Thumb 1 Stretched") return "RightHand.Thumb.1 Stretched"; + if (n == "Right Thumb 2 Stretched") return "RightHand.Thumb.2 Stretched"; + if (n == "Right Thumb 3 Stretched") return "RightHand.Thumb.3 Stretched"; + + if (n == "Right Index Spread") return "RightHand.Index.Spread"; + if (n == "Right Middle Spread") return "RightHand.Middle.Spread"; + if (n == "Right Ring Spread") return "RightHand.Ring.Spread"; + if (n == "Right Little Spread") return "RightHand.Little.Spread"; + if (n == "Right Thumb Spread") return "RightHand.Thumb.Spread"; + + return n; + } + + public void MultiplyLength(AnimationCurve curve, float mlp) + { + Keyframe[] keys = curve.keys; + for (int i = 0; i < keys.Length; i++) + { + keys[i].time *= mlp; + } + curve.keys = keys; + } + + // Add curves to the AnimationClip for each channel + public void SetCurves(ref AnimationClip clip, float maxError, float lengthMlp) + { + MultiplyLength(curve, lengthMlp); + BakerUtilities.ReduceKeyframes(curve, maxError); + + // BakerUtilities.SetTangentMode(curve); + + clip.SetCurve(string.Empty, typeof(Animator), propertyName, curve); + } + + // Clear all curves + public void Reset() + { + curve = new AnimationCurve(); + } + + // Record a keyframe for each channel + public void SetKeyframe(float time, float[] muscles) + { + curve.AddKey(time, muscles[muscleIndex]); + } + + // Add a copy of the first frame to the specified time + public void SetLoopFrame(float time) + { + BakerUtilities.SetLoopFrame(time, curve); + } + } + + //Manages the Animation Curves for a single Transform that is a child of the root Transform. + [System.Serializable] + public class BakerTransform + { + + public Transform transform; // The Transform component to record + + // Animation curves for each channel of the Transform + public AnimationCurve + posX, posY, posZ, + rotX, rotY, rotZ, rotW; + + private string relativePath; // Path relative to the root + private bool recordPosition; // Should we record the localPosition if the transform? + private Vector3 relativePosition; + private bool isRootNode; + private Quaternion relativeRotation; + + // The custom constructor + public BakerTransform(Transform transform, Transform root, bool recordPosition, bool isRootNode) + { + this.transform = transform; + this.recordPosition = recordPosition || isRootNode; + this.isRootNode = isRootNode; + + relativePath = string.Empty; +#if UNITY_EDITOR + relativePath = UnityEditor.AnimationUtility.CalculateTransformPath(transform, root); +#endif + + Reset(); + } + + public void SetRelativeSpace(Vector3 position, Quaternion rotation) + { + relativePosition = position; + relativeRotation = rotation; + } + + // Add curves to the AnimationClip for each channel + public void SetCurves(ref AnimationClip clip, float maxError) + { + if (recordPosition) + { + BakerUtilities.ReduceKeyframes(posX, maxError); + BakerUtilities.ReduceKeyframes(posY, maxError); + BakerUtilities.ReduceKeyframes(posZ, maxError); + + clip.SetCurve(relativePath, typeof(Transform), "localPosition.x", posX); + clip.SetCurve(relativePath, typeof(Transform), "localPosition.y", posY); + clip.SetCurve(relativePath, typeof(Transform), "localPosition.z", posZ); + } + + BakerUtilities.ReduceKeyframes(rotX, maxError); + BakerUtilities.ReduceKeyframes(rotY, maxError); + BakerUtilities.ReduceKeyframes(rotZ, maxError); + BakerUtilities.ReduceKeyframes(rotW, maxError); + + clip.SetCurve(relativePath, typeof(Transform), "localRotation.x", rotX); + clip.SetCurve(relativePath, typeof(Transform), "localRotation.y", rotY); + clip.SetCurve(relativePath, typeof(Transform), "localRotation.z", rotZ); + clip.SetCurve(relativePath, typeof(Transform), "localRotation.w", rotW); + + if (isRootNode) AddRootMotionCurves(ref clip); + + // @todo probably only need to do it once for the clip + clip.EnsureQuaternionContinuity(); // DOH! + } + + private void AddRootMotionCurves(ref AnimationClip clip) + { + if (recordPosition) + { + clip.SetCurve("", typeof(Animator), "MotionT.x", posX); + clip.SetCurve("", typeof(Animator), "MotionT.y", posY); + clip.SetCurve("", typeof(Animator), "MotionT.z", posZ); + } + + clip.SetCurve("", typeof(Animator), "MotionQ.x", rotX); + clip.SetCurve("", typeof(Animator), "MotionQ.y", rotY); + clip.SetCurve("", typeof(Animator), "MotionQ.z", rotZ); + clip.SetCurve("", typeof(Animator), "MotionQ.w", rotW); + } + + // Clear all curves + public void Reset() + { + posX = new AnimationCurve(); + posY = new AnimationCurve(); + posZ = new AnimationCurve(); + + rotX = new AnimationCurve(); + rotY = new AnimationCurve(); + rotZ = new AnimationCurve(); + rotW = new AnimationCurve(); + } + + public void ReduceKeyframes(float maxError) + { + BakerUtilities.ReduceKeyframes(rotX, maxError); + BakerUtilities.ReduceKeyframes(rotY, maxError); + BakerUtilities.ReduceKeyframes(rotZ, maxError); + BakerUtilities.ReduceKeyframes(rotW, maxError); + + BakerUtilities.ReduceKeyframes(posX, maxError); + BakerUtilities.ReduceKeyframes(posY, maxError); + BakerUtilities.ReduceKeyframes(posZ, maxError); + } + + // Record a keyframe for each channel + public void SetKeyframes(float time) + { + if (recordPosition) + { + Vector3 pos = transform.localPosition; + + if (isRootNode) + { + pos = transform.position - relativePosition; + } + + posX.AddKey(time, pos.x); + posY.AddKey(time, pos.y); + posZ.AddKey(time, pos.z); + } + + Quaternion rot = transform.localRotation; + + if (isRootNode) + { + rot = Quaternion.Inverse(relativeRotation) * transform.rotation; + } + + rotX.AddKey(time, rot.x); + rotY.AddKey(time, rot.y); + rotZ.AddKey(time, rot.z); + rotW.AddKey(time, rot.w); + } + + // Add a copy of the first frame to the specified time + public void AddLoopFrame(float time) + { + // TODO change to SetLoopFrame + if (recordPosition && !isRootNode) + { + posX.AddKey(time, posX.keys[0].value); + posY.AddKey(time, posY.keys[0].value); + posZ.AddKey(time, posZ.keys[0].value); + } + + rotX.AddKey(time, rotX.keys[0].value); + rotY.AddKey(time, rotY.keys[0].value); + rotZ.AddKey(time, rotZ.keys[0].value); + rotW.AddKey(time, rotW.keys[0].value); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs.meta new file mode 100644 index 00000000..a3b9e126 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/Helpers/BakerUtilities.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 582052db0a6096149a7b2b75914ef3a6 +timeCreated: 1516263395 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs new file mode 100644 index 00000000..b8ef3dbc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs @@ -0,0 +1,196 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.Playables; + +namespace RootMotion +{ + /// + /// Baker for Humanoid animation. + /// + public class HumanoidBaker : Baker + { + /// + /// Should the hand IK curves be added to the animation? Disable this if the original hand positions are not important when using the clip on another character via Humanoid retargeting. + /// + [Tooltip("Should the hand IK curves be added to the animation? Disable this if the original hand positions are not important when using the clip on another character via Humanoid retargeting.")] + public bool bakeHandIK = true; + + /// + /// Max keyframe reduction error for the Root.Q/T, LeftFoot IK and RightFoot IK channels. Having a larger error value for 'Key Reduction Error' and a smaller one for this enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator. + /// + [Tooltip("Max keyframe reduction error for the Root.Q/T, LeftFoot IK and RightFoot IK channels. Having a larger error value for 'Key Reduction Error' and a smaller one for this enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator.")] + [Range(0f, 0.1f)] public float IKKeyReductionError; + + /// + /// Frame rate divider for the muscle curves. If you had 'Frame Rate' set to 30, and this value set to 3, the muscle curves will be baked at 10 fps. Only the Root Q/T and Hand and Foot IK curves will be baked at 30. This enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator. + /// + [Tooltip("Frame rate divider for the muscle curves. If you have 'Frame Rate' set to 30, and this value set to 3, the muscle curves will be baked at 10 fps. Only the Root Q/T and Hand and Foot IK curves will be baked at 30. This enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator.")] + [Range(1, 9)] public int muscleFrameRateDiv = 1; + + private BakerMuscle[] bakerMuscles; + private BakerHumanoidQT rootQT; + private BakerHumanoidQT leftFootQT; + private BakerHumanoidQT rightFootQT; + private BakerHumanoidQT leftHandQT; + private BakerHumanoidQT rightHandQT; + + private float[] muscles = new float[0]; + private HumanPose pose = new HumanPose(); + private HumanPoseHandler handler; + private Vector3 bodyPosition; + private Quaternion bodyRotation = Quaternion.identity; + private int mN = 0; + private Quaternion lastBodyRotation = Quaternion.identity; + + void Awake() + { + animator = GetComponent(); + director = GetComponent(); + + if (mode == Mode.AnimationStates || mode == Mode.AnimationClips) + { + if (animator == null || !animator.isHuman) + { + Debug.LogError("HumanoidBaker GameObject does not have a Humanoid Animator component, can not bake."); + enabled = false; + return; + } + + animator.cullingMode = AnimatorCullingMode.AlwaysAnimate; + } + else if (mode == Mode.PlayableDirector) + { + if (director == null) + { + Debug.LogError("HumanoidBaker GameObject does not have a PlayableDirector component, can not bake."); + } + } + + muscles = new float[HumanTrait.MuscleCount]; + bakerMuscles = new BakerMuscle[HumanTrait.MuscleCount]; + for (int i = 0; i < bakerMuscles.Length; i++) + { + bakerMuscles[i] = new BakerMuscle(i); + } + + rootQT = new BakerHumanoidQT("Root"); + + leftFootQT = new BakerHumanoidQT(animator.GetBoneTransform(HumanBodyBones.LeftFoot), AvatarIKGoal.LeftFoot, "LeftFoot"); + rightFootQT = new BakerHumanoidQT(animator.GetBoneTransform(HumanBodyBones.RightFoot), AvatarIKGoal.RightFoot, "RightFoot"); + leftHandQT = new BakerHumanoidQT(animator.GetBoneTransform(HumanBodyBones.LeftHand), AvatarIKGoal.LeftHand, "LeftHand"); + rightHandQT = new BakerHumanoidQT(animator.GetBoneTransform(HumanBodyBones.RightHand), AvatarIKGoal.RightHand, "RightHand"); + + handler = new HumanPoseHandler(animator.avatar, animator.transform); + } + + protected override Transform GetCharacterRoot() + { + return animator.transform; + } + + protected override void OnStartBaking() + { + + rootQT.Reset(); + leftFootQT.Reset(); + rightFootQT.Reset(); + leftHandQT.Reset(); + rightHandQT.Reset(); + + for (int i = 0; i < bakerMuscles.Length; i++) + { + bakerMuscles[i].Reset(); + } + + mN = muscleFrameRateDiv; + + lastBodyRotation = Quaternion.identity; + } + + protected override void OnSetLoopFrame(float time) + { + for (int i = 0; i < bakerMuscles.Length; i++) bakerMuscles[i].SetLoopFrame(time); + + rootQT.MoveLastKeyframes(time); + + leftFootQT.SetLoopFrame(time); + rightFootQT.SetLoopFrame(time); + leftHandQT.SetLoopFrame(time); + rightHandQT.SetLoopFrame(time); + } + + protected override void OnSetCurves(ref AnimationClip clip) + { + float length = bakerMuscles[0].curve.keys[bakerMuscles[0].curve.keys.Length - 1].time; + float lengthMlp = mode != Mode.Realtime ? clipLength / length : 1f; + + for (int i = 0; i < bakerMuscles.Length; i++) bakerMuscles[i].SetCurves(ref clip, keyReductionError, lengthMlp); + + rootQT.SetCurves(ref clip, IKKeyReductionError, lengthMlp); + leftFootQT.SetCurves(ref clip, IKKeyReductionError, lengthMlp); + rightFootQT.SetCurves(ref clip, IKKeyReductionError, lengthMlp); + + if (bakeHandIK) + { + leftHandQT.SetCurves(ref clip, IKKeyReductionError, lengthMlp); + rightHandQT.SetCurves(ref clip, IKKeyReductionError, lengthMlp); + } + } + + protected override void OnSetKeyframes(float time, bool lastFrame) + { + // Skip muscle frames + mN++; + bool updateMuscles = true; + if (mN < muscleFrameRateDiv && !lastFrame) + { + updateMuscles = false; + } + if (mN >= muscleFrameRateDiv) mN = 0; + + UpdateHumanPose(); + + if (updateMuscles) + { + for (int i = 0; i < bakerMuscles.Length; i++) bakerMuscles[i].SetKeyframe(time, muscles); + } + + rootQT.SetKeyframes(time, bodyPosition, bodyRotation); + + Vector3 bodyPositionScaled = bodyPosition * animator.humanScale; + leftFootQT.SetIKKeyframes(time, animator.avatar, animator.transform, animator.humanScale, bodyPositionScaled, bodyRotation); + rightFootQT.SetIKKeyframes(time, animator.avatar, animator.transform, animator.humanScale, bodyPositionScaled, bodyRotation); + + leftHandQT.SetIKKeyframes(time, animator.avatar, animator.transform, animator.humanScale, bodyPositionScaled, bodyRotation); + rightHandQT.SetIKKeyframes(time, animator.avatar, animator.transform, animator.humanScale, bodyPositionScaled, bodyRotation); + } + + private void UpdateHumanPose() + { + handler.GetHumanPose(ref pose); + + bodyPosition = pose.bodyPosition; + bodyRotation = pose.bodyRotation; + + bodyRotation = BakerUtilities.EnsureQuaternionContinuity(lastBodyRotation, bodyRotation); + lastBodyRotation = bodyRotation; + + for (int i = 0; i < pose.muscles.Length; i++) + { + muscles[i] = pose.muscles[i]; + } + } + +#if UNITY_EDITOR + protected override void SetClipSettings(AnimationClip clip, UnityEditor.AnimationClipSettings settings) + { + /* v2.0 + settings.loopBlendOrientation = true; + settings.loopBlendPositionY = true; + settings.keepOriginalOrientation = true; + settings.keepOriginalPositionY = true; + */ + } +#endif + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs.meta new file mode 100644 index 00000000..816607fd --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/Scripts/HumanoidBaker.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: efcc0ec5ed265a340a1412edb9110337 +timeCreated: 1516287616 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 15000 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS.meta 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a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts.meta new file mode 100644 index 00000000..57423301 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 3349a7526568cf042bf8609694db3327 +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts/FKOffset.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts/FKOffset.cs new file mode 100644 index 00000000..f5969cfa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts/FKOffset.cs @@ -0,0 +1,53 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.Demos +{ + // Adds simple FK rotation offset to bones. + public class FKOffset : MonoBehaviour + { + [System.Serializable] + public class Offset + { + [HideInInspector] public string name; + public HumanBodyBones bone; + public Vector3 rotationOffset; + + private Transform t; + + public void Apply(Animator animator) + { + if (t == null) t = animator.GetBoneTransform(bone); + if (t == null) return; + + t.localRotation *= Quaternion.Euler(rotationOffset); + } + } + + public Offset[] offsets; + + private Animator animator; + + private void Start() + { + animator = GetComponent(); + } + + private void LateUpdate() + { + foreach (Offset offset in offsets) + { + offset.Apply(animator); + } + } + + private void OnDrawGizmosSelected() + { + foreach (Offset offset in offsets) + { + offset.name = offset.bone.ToString(); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts/FKOffset.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Baker/_DEMOS/Scripts/FKOffset.cs.meta new file mode 100644 index 00000000..f1fe2d16 --- /dev/null +++ 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b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: fe88a087b0795174f9c8ec2369f4ccb2 +folderAsset: yes +timeCreated: 1516620937 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs new file mode 100644 index 00000000..23b5fa58 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs @@ -0,0 +1,239 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; +using UnityEngine.Playables; +using System; + +namespace RootMotion +{ + public class BakerInspector : Editor + { + + protected void DrawKeyframeSettings(Baker script) + { + if (script.isBaking) return; + EditorGUILayout.Space(); + + EditorGUILayout.PropertyField(serializedObject.FindProperty("frameRate")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("keyReductionError")); + } + + protected void DrawModeSettings(Baker script) + { + if (script.isBaking) return; + + EditorGUILayout.Space(); + + switch(script.mode) + { + case Baker.Mode.AnimationClips: + EditorGUILayout.PropertyField(serializedObject.FindProperty("inheritClipSettings")); + if (!serializedObject.FindProperty("inheritClipSettings").boolValue) DrawClipSettings(); + break; + default: + DrawClipSettings(); + break; + } + + EditorGUILayout.Space(); + + EditorGUILayout.PropertyField(serializedObject.FindProperty("mode")); + + switch (script.mode) + { + case Baker.Mode.AnimationClips: + EditorGUILayout.PropertyField(serializedObject.FindProperty("animationClips"), true); + EditorGUILayout.PropertyField(serializedObject.FindProperty("appendName")); + break; + case Baker.Mode.AnimationStates: + EditorGUILayout.PropertyField(serializedObject.FindProperty("animationStates"), true); + EditorGUILayout.PropertyField(serializedObject.FindProperty("appendName")); + + break; + case Baker.Mode.PlayableDirector: + EditorGUILayout.PropertyField(serializedObject.FindProperty("saveName")); + break; + default: + EditorGUILayout.PropertyField(serializedObject.FindProperty("saveName")); + break; + } + + //EditorGUILayout.BeginHorizontal(); + EditorGUILayout.Space(); + EditorGUILayout.LabelField(new GUIContent("Save To Folder")); + + if (EditorGUILayout.DropdownButton(new GUIContent(serializedObject.FindProperty("saveToFolder").stringValue, "The folder to save the baked AnimationClips to."), FocusType.Passive, GUILayout.MaxWidth(400))) + { + serializedObject.FindProperty("saveToFolder").stringValue = SaveClipFolderPanel.Apply(serializedObject.FindProperty("saveToFolder").stringValue); + } + //EditorGUILayout.EndHorizontal(); + } + + private void DrawClipSettings() + { + var p = serializedObject.FindProperty("clipSettings"); + + EditorGUILayout.PropertyField(p, false); + + if (p.isExpanded) + { + EditorGUILayout.BeginVertical("Box"); + EditorGUI.indentLevel++; + + EditorGUILayout.PropertyField(p.FindPropertyRelative("loopTime")); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(p.FindPropertyRelative("loopBlend"), new GUIContent("Loop Pose")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("cycleOffset")); + EditorGUI.indentLevel--; + + EditorGUILayout.Space(); + + EditorGUILayout.LabelField(new GUIContent("Root Transform Rotation")); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(p.FindPropertyRelative("loopBlendOrientation"), new GUIContent("Bake Into Pose")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("basedUponRotation"), new GUIContent("Based Upon")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("orientationOffsetY"), new GUIContent("Offset")); + EditorGUI.indentLevel--; + + EditorGUILayout.Space(); + + EditorGUILayout.LabelField(new GUIContent("Root Transform Position (Y)")); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(p.FindPropertyRelative("loopBlendPositionY"), new GUIContent("Bake Into Pose")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("basedUponY"), new GUIContent("Based Upon (at Start)")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("level"), new GUIContent("Offset")); + EditorGUI.indentLevel--; + + EditorGUILayout.Space(); + + EditorGUILayout.LabelField(new GUIContent("Root Transform Position (XZ)")); + EditorGUI.indentLevel++; + EditorGUILayout.PropertyField(p.FindPropertyRelative("loopBlendPositionXZ"), new GUIContent("Bake Into Pose")); + EditorGUILayout.PropertyField(p.FindPropertyRelative("basedUponXZ"), new GUIContent("Based Upon")); + EditorGUI.indentLevel--; + + EditorGUILayout.Space(); + EditorGUILayout.PropertyField(p.FindPropertyRelative("mirror")); + + EditorGUI.indentLevel--; + EditorGUILayout.EndVertical(); + } + } + + private void TryBake(Baker script) + { + switch (script.mode) + { + case Baker.Mode.AnimationClips: + if (script.animator == null) + { + EditorGUILayout.LabelField("No Animator found on Baker GameObject", EditorStyles.helpBox); + return; + } + + if (script.animator.isHuman && script.animator.runtimeAnimatorController == null) + { + EditorGUILayout.LabelField("Humanoid Animator needs to have a valid Controller assigned for clip baking (Unity crash bug)", EditorStyles.helpBox); + return; + } + + if (script.animationClips.Length == 0) + { + EditorGUILayout.LabelField("Please add AnimationClips to bake", EditorStyles.helpBox); + return; + } + + foreach (AnimationClip clip in script.animationClips) + { + if (clip == null) + { + EditorGUILayout.LabelField("One of the AnimationClips is null, can not bake.", EditorStyles.helpBox); + return; + } + } + + if (GUILayout.Button("Bake Animation Clips")) script.BakeClip(); + return; + case Baker.Mode.AnimationStates: + if (script.animator == null) + { + EditorGUILayout.LabelField("No Animator found on Baker GameObject", EditorStyles.helpBox); + return; + } + + if (script.animationStates.Length == 0) + { + EditorGUILayout.LabelField("Please add Animation State names to bake. The Animator must contain AnimationStates with matching names. If AnimationState names match with clip names used in them, you can have the Baker fill the names in automatically by right-clicking on the component header and selecting 'Find Animation States'.", EditorStyles.helpBox); + return; + } + + for (int i = 0; i < script.animationStates.Length; i++) + { + if (script.animationStates[i] == string.Empty || script.animationStates[i] == "") + { + EditorGUILayout.LabelField("One of the animation state names in 'Animation States' is empty, can not bake.", EditorStyles.helpBox); + return; + } + } + + if (GUILayout.Button("Bake Animation States")) script.BakeClip(); + return; + case Baker.Mode.PlayableDirector: + if (script.director == null) + { + EditorGUILayout.LabelField("No PlayableDirector found on Baker GameObject", EditorStyles.helpBox); + return; + } + + if (GUILayout.Button("Bake Timeline")) script.BakeClip(); + break; + case Baker.Mode.Realtime: + if (GUILayout.Button("Start Baking")) script.StartBaking(); + return; + } + } + + protected void DrawButtons(Baker script) + { + if (!script.enabled) return; + + if (script.animator == null) + { + serializedObject.FindProperty("animator").objectReferenceValue = script.GetComponent(); + } + + if (script.director == null) + { + serializedObject.FindProperty("director").objectReferenceValue = script.GetComponent(); + } + + if (!Application.isPlaying) + { + EditorGUILayout.LabelField("Enter Play Mode to bake.", EditorStyles.helpBox); + return; + } + + if (!script.isBaking) + { + TryBake(script); + } + else + { + GUI.color = Color.red; + + switch (script.mode) + { + case Baker.Mode.Realtime: + if (GUILayout.Button("Stop Baking")) script.StopBaking(); + break; + default: + GUILayout.Label("Baking Progress: " + System.Math.Round(script.bakingProgress, 2)); + break; + } + + GUI.color = Color.white; + EditorUtility.SetDirty(script); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs.meta new file mode 100644 index 00000000..12364ef3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/BakerInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: dcf5801ad3ff7fa43b06824f09d82160 +timeCreated: 1516619065 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs new file mode 100644 index 00000000..4ee86000 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs @@ -0,0 +1,52 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion +{ + [CustomEditor(typeof(GenericBaker))] + public class GenericBakerInspector : BakerInspector + { + private GenericBaker script { get { return target as GenericBaker; } } + + private MonoScript monoScript; + + void OnEnable() + { + // Changing the script execution order + if (!Application.isPlaying) + { + monoScript = MonoScript.FromMonoBehaviour(script); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != 15001) MonoImporter.SetExecutionOrder(monoScript, 15001); + } + } + + public override void OnInspectorGUI() + { + serializedObject.Update(); + + DrawKeyframeSettings(script as Baker); + DrawGenericKeyframeSettings(script); + DrawModeSettings(script as Baker); + DrawButtons(script as Baker); + + if (serializedObject.ApplyModifiedProperties()) + { + EditorUtility.SetDirty(script); + } + } + + private void DrawGenericKeyframeSettings(GenericBaker script) + { + if (script.isBaking) return; + + EditorGUILayout.PropertyField(serializedObject.FindProperty("markAsLegacy")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("root")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("rootNode")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("ignoreList"), true); + EditorGUILayout.PropertyField(serializedObject.FindProperty("bakePositionList"), true); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs.meta new file mode 100644 index 00000000..cb019aa7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/GenericBakerInspector.cs.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 8f544a5bc87054e74ac2e415889ba75a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers.meta new file mode 100644 index 00000000..08e97318 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 73b96cf8495867d429c9c5b31ff6d6da +folderAsset: yes +timeCreated: 1516621014 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs new file mode 100644 index 00000000..1447c6aa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs @@ -0,0 +1,38 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion +{ + public static class AnimationUtilityExtended + { + + /// + /// Copies the curves with the specified property names from clipFrom to clipTo. + /// + /// copy from clip. + /// paste to clip + /// Property names ("Root.T", "Root.Q", "LeftFoot.T"...). + public static void CopyCurves(AnimationClip fromClip, AnimationClip toClip, string[] propertyNames) + { + EditorCurveBinding[] bindings = AnimationUtility.GetCurveBindings(fromClip); + + for (int i = 0; i < bindings.Length; i++) + { + for (int n = 0; n < propertyNames.Length; n++) + { + if (bindings[i].propertyName == propertyNames[n]) + { + CopyCurve(fromClip, toClip, bindings[i]); + } + } + } + } + + public static void CopyCurve(AnimationClip fromClip, AnimationClip toClip, EditorCurveBinding binding) + { + AnimationCurve curve = AnimationUtility.GetEditorCurve(fromClip, binding); + toClip.SetCurve(string.Empty, typeof(Animator), binding.propertyName, curve); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs.meta new file mode 100644 index 00000000..7d148b5d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/AnimationUtilityExtended.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 054c55a0c5c10dc4fafcfd81aeaaec56 +timeCreated: 1516620625 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs new file mode 100644 index 00000000..bf0e65bb --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs @@ -0,0 +1,22 @@ +using UnityEngine; +using UnityEditor; +using System.IO; +using System; + +namespace RootMotion +{ + public class SaveClipFolderPanel : EditorWindow + { + public static string Apply(string currentPath) + { + string path = EditorUtility.SaveFolderPanel("Save clip(s) to folder", currentPath, ""); + + if (path.Length != 0) + { + return path.Substring(path.IndexOf("Assets/")); + } + + return currentPath; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs.meta new file mode 100644 index 00000000..ec549eb2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/Helpers/SaveClipFolderPanel.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 7edb6cbf0a3b9924d8f631c4c00fd38a +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs new file mode 100644 index 00000000..3d731dab --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs @@ -0,0 +1,52 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion +{ + [CustomEditor(typeof(HumanoidBaker))] + public class HumanoidBakerInspector : BakerInspector + { + + private HumanoidBaker script { get { return target as HumanoidBaker; } } + + private MonoScript monoScript; + + void OnEnable() + { + // Changing the script execution order + if (!Application.isPlaying) + { + monoScript = MonoScript.FromMonoBehaviour(script); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != 15000) MonoImporter.SetExecutionOrder(monoScript, 15000); + } + } + + // TODO Move this to BakerInspector.cs + public override void OnInspectorGUI() + { + serializedObject.Update(); + + DrawKeyframeSettings(script as Baker); + DrawHumanoidKeyframeSettings(script); + DrawModeSettings(script as Baker); + DrawButtons(script as Baker); + + if (serializedObject.ApplyModifiedProperties()) + { + EditorUtility.SetDirty(script); + } + } + + protected void DrawHumanoidKeyframeSettings(HumanoidBaker script) + { + if (script.isBaking) return; + + EditorGUILayout.PropertyField(serializedObject.FindProperty("IKKeyReductionError")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("muscleFrameRateDiv")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("bakeHandIK")); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs.meta new file mode 100644 index 00000000..103eb370 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Baker/HumanoidBakerInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: f8139af98945e154885b65eedbb102cc +timeCreated: 1516265598 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK.meta new file mode 100644 index 00000000..f5f66577 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 403e73ed4eb874619a26a7b37fbb9c35 +folderAsset: yes +timeCreated: 1436186156 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs new file mode 100644 index 00000000..6c006bdb --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for AimIK. + * */ + [CustomEditor(typeof(AimIK))] + public class AimIKInspector : IKInspector { + + private AimIK script { get { return target as AimIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverAim + IKSolverAimInspector.AddInspector(solver, !Application.isPlaying); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverAimInspector.AddScene(script.solver, new Color(1f, 0f, 0.5f, 1f), true); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs.meta new file mode 100644 index 00000000..d2462889 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4a8f3f357746148a98faf7ccd416a2a6 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs new file mode 100644 index 00000000..dc883e52 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs @@ -0,0 +1,189 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Custom inspector for the Aim Poser for visualizing pose range + /// + [CustomEditor(typeof(AimPoser))] + public class AimPoserInspector : Editor { + + [System.Serializable] + public struct ColorDirection { + public Vector3 direction; + public Vector3 color; + public float dot; + + public ColorDirection(Vector3 direction, Vector3 color) { + this.direction = direction.normalized; + this.color = color; + this.dot = 0; + } + } + + private AimPoser script { get { return target as AimPoser; }} + private ColorDirection[] colorDirections; + private static Vector3[] poly = new Vector3[36]; + + void OnSceneGUI() { + for (int i = 0; i < script.poses.Length; i++) { + script.poses[i].yaw = Mathf.Clamp(script.poses[i].yaw, 0, 180); + script.poses[i].pitch = Mathf.Clamp(script.poses[i].pitch, 0, 180); + } + + if (colorDirections == null) { + colorDirections = new ColorDirection[6] { + new ColorDirection(Vector3.right, Vector3.right), + new ColorDirection(Vector3.up, Vector3.up), + new ColorDirection(Vector3.forward, Vector3.forward), + new ColorDirection(Vector3.left, new Vector3(0f, 1f, 1f)), + new ColorDirection(Vector3.down, new Vector3(1f, 0f, 1f)), + new ColorDirection(Vector3.back, new Vector3(1f, 1f, 0f)) + }; + } + + for (int i = 0; i < script.poses.Length; i++) { + if (script.poses[i].visualize) { + DrawPose(script.poses[i], script.transform.position, script.transform.rotation, GetDirectionColor(script.poses[i].direction)); + } + } + } + + private Color GetDirectionColor(Vector3 localDirection) { + localDirection = localDirection.normalized; + + // Calculating dot products for all AxisDirections + for (int i = 0; i < colorDirections.Length; i++) { + colorDirections[i].dot = Mathf.Clamp(Vector3.Dot(colorDirections[i].direction, localDirection), 0f, 1f); + } + + // Summing up the arm bend axis + Vector3 sum = Vector3.zero; + + for (int i = 0; i < colorDirections.Length; i++) { + sum = Vector3.Lerp(sum, colorDirections[i].color, colorDirections[i].dot * colorDirections[i].dot); + } + + return new Color(sum.x, sum.y, sum.z); + } + + private static void DrawPose(AimPoser.Pose pose, Vector3 position, Quaternion rotation, Color color) { + if (pose.pitch <= 0f || pose.yaw <= 0f) return; + if (pose.direction == Vector3.zero) return; + + Handles.color = color; + GUI.color = color; + + Vector3 up = rotation * Vector3.up; + Vector3 normalizedPoseDirection = pose.direction.normalized; + Vector3 direction = rotation * normalizedPoseDirection; + + // Direction and label + Handles.DrawLine(position, position + direction); + Inspector.ConeCap(0, position + direction, Quaternion.LookRotation(direction), 0.05f); + Handles.Label(position + direction.normalized * 1.1f, pose.name); + + if (pose.yaw >= 180f && pose.pitch >= 180f) { + Handles.color = Color.white; + GUI.color = Color.white; + return; + } + + Quaternion halfYaw = Quaternion.AngleAxis(pose.yaw, up); + + float directionPitch = Vector3.Angle(up, direction); + Vector3 crossRight = halfYaw * Vector3.Cross(up, direction); + Vector3 crossLeft = Quaternion.Inverse(halfYaw) * Vector3.Cross(up, direction); + + bool isVertical = normalizedPoseDirection == Vector3.up || normalizedPoseDirection == Vector3.down; + + if (isVertical) { + crossRight = halfYaw * Vector3.right; + crossLeft = Quaternion.Inverse(halfYaw) * Vector3.right; + } + + float minPitch = Mathf.Clamp(directionPitch - pose.pitch, 0f, 180f); + float maxPitch = Mathf.Clamp(directionPitch + pose.pitch, 0f, 180f); + + Quaternion upToCornerUpperRight = Quaternion.AngleAxis(minPitch, crossRight); + Quaternion upToCornerLowerRight = Quaternion.AngleAxis(maxPitch, crossRight); + Quaternion upToCornerUpperLeft = Quaternion.AngleAxis(minPitch, crossLeft); + Quaternion upToCornerLowerLeft = Quaternion.AngleAxis(maxPitch, crossLeft); + + Vector3 toCornerUpperRight = upToCornerUpperRight * up; + Vector3 toCornerLowerRight = upToCornerLowerRight * up; + Vector3 toCornerUpperLeft = upToCornerUpperLeft * up; + Vector3 toCornerLowerLeft = upToCornerLowerLeft * up; + + if (pose.yaw < 180f) { + Handles.DrawLine(position, position + toCornerUpperRight); + Handles.DrawLine(position, position + toCornerUpperLeft); + + Handles.DrawLine(position, position + toCornerLowerRight); + Handles.DrawLine(position, position + toCornerLowerLeft); + } + + Vector3 d = direction; + if (isVertical) d = Vector3.forward; + + if (pose.pitch < 180f) { + DrawPolyLineOnSphere(position, toCornerUpperLeft, toCornerUpperRight, d, Vector3.up, color); + DrawPolyLineOnSphere(position, toCornerLowerLeft, toCornerLowerRight, d, Vector3.up, color); + } + + if (pose.yaw < 180f) { + DrawPolyLineOnSphere(position, toCornerUpperLeft, toCornerLowerLeft, Quaternion.Inverse(halfYaw) * d, crossLeft, color); + DrawPolyLineOnSphere(position, toCornerUpperRight, toCornerLowerRight, halfYaw * d, crossRight, color); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + private static void DrawPolyLineOnSphere(Vector3 center, Vector3 d1, Vector3 d2, Vector3 direction, Vector3 axis, Color color) { + Handles.color = color; + + Vector3 normal = axis; + Vector3 d1Ortho = d1; + Vector3.OrthoNormalize(ref normal, ref d1Ortho); + + normal = axis; + Vector3 d2Ortho = d2; + Vector3.OrthoNormalize(ref normal, ref d2Ortho); + + normal = axis; + Vector3 directionOrtho = direction; + Vector3.OrthoNormalize(ref normal, ref directionOrtho); + + float angle = Vector3.Angle(d1Ortho, d2Ortho); + + float dot = Vector3.Dot(directionOrtho, d1Ortho); + if (dot < 0) { + angle = 180 + (180 - angle); + } + + int segments = Mathf.Clamp(Mathf.RoundToInt(angle / 36f) * 5, 3, 36); + + float segmentF = angle / (float)(segments - 1); + + for (int i = 0; i < segments; i++) { + poly[i] = center + Quaternion.AngleAxis(i * segmentF, axis) * d1; + } + + Handles.color = new Color(color.r, color.g, color.b, color.a * 0.1f); + + for (int i = 0; i < segments; i++) { + Handles.DrawLine(center, poly[i]); + } + + Handles.color = color; + + for (int i = 0; i < segments - 1; i++) { + Handles.DrawLine(poly[i], poly[i + 1]); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs.meta new file mode 100644 index 00000000..a651f2b8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/AimPoserInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 079587d3635eb48c3a5c0d57f8c3cc6f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs new file mode 100644 index 00000000..b2bb30c3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for ArmIK. + * */ + [CustomEditor(typeof(ArmIK))] + public class ArmIKInspector : IKInspector { + + private ArmIK script { get { return target as ArmIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverTrigonometric + IKSolverArmInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverArmInspector.AddScene(script.solver, new Color(0f, 1f, 1f, 1f), true); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs.meta new file mode 100644 index 00000000..42bdcc7e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ArmIKInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 07bc62a41db738b488fc9430a0a20772 +timeCreated: 1528379362 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs new file mode 100644 index 00000000..a1fcf573 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs @@ -0,0 +1,115 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for Biped IK. + * */ + [CustomEditor(typeof(BipedIK))] + public class BipedIKInspector : Editor { + + private BipedIK script { get { return target as BipedIK; }} + + private int selectedSolver = -1; + + private SerializedProperty references, solvers; + private SerializedProperty[] solversProps; + private SerializedContent fixTransforms; + + public void OnEnable() { + if (serializedObject == null) return; + + // Store the MonoScript for changing script execution order + if (!Application.isPlaying) { + MonoScript monoScript = MonoScript.FromMonoBehaviour(script); + + // Changing the script execution order to make sure BipedIK always executes after any other script except FullBodyBipedIK + int executionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (executionOrder != 9998) MonoImporter.SetExecutionOrder(monoScript, 9998); + } + + references = serializedObject.FindProperty("references"); + solvers = serializedObject.FindProperty("solvers"); + solversProps = BipedIKSolversInspector.FindProperties(solvers); + fixTransforms = new SerializedContent(serializedObject.FindProperty("fixTransforms"), new GUIContent("Fix Transforms", "If true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance.")); + + // Automatically detecting references + if (!Application.isPlaying) { + if (script.references.isEmpty) { + BipedReferences.AutoDetectReferences(ref script.references, script.transform, new BipedReferences.AutoDetectParams(false, true)); + + references.isExpanded = true; + solvers.isExpanded = false; + for (int i = 0; i < solversProps.Length; i++) solversProps[i].isExpanded = false; + + // Setting default values and initiating + script.InitiateBipedIK(); + script.SetToDefaults(); + EditorUtility.SetDirty(script); + } else script.InitiateBipedIK(); + + Warning.logged = false; + + string message = string.Empty; + if (Application.isPlaying) { + if (BipedReferences.SetupError(script.references, ref message) || BipedReferences.SetupWarning(script.references, ref message)) { + Warning.Log(message, script.references.root, false); + } + } + } + } + + // Override the default warning box + private void AddWarningBox(string message) { + EditorGUILayout.Space(); + + EditorGUILayout.LabelField("Invalid/incomplete setup, can't initiate solver. " + message, EditorStyles.helpBox); + + EditorGUILayout.Space(); + } + + public override void OnInspectorGUI() { + serializedObject.Update(); + + EditorGUILayout.Space(); + + Inspector.AddContent(fixTransforms); + string message = string.Empty; + + // Editing References + if (BipedReferencesInspector.AddModifiedInspector(references)) { + if (!Application.isPlaying) { + Warning.logged = false; + + if (!BipedReferences.SetupError(script.references, ref message)) { + script.InitiateBipedIK(); + } + } + } + + if (BipedReferences.SetupError(script.references, ref message)) { + // Warning box + AddWarningBox(message); + Warning.Log(message, script.transform, false); + } else { + // Editing Solvers + BipedIKSolversInspector.AddInspector(solvers, solversProps); + } + + EditorGUILayout.Space(); + + serializedObject.ApplyModifiedProperties(); + } + + void OnSceneGUI() { + if (!script.enabled) return; + + // Draw the scene view helpers for the solvers + BipedIKSolversInspector.AddScene(script.solvers, ref selectedSolver); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs.meta new file mode 100644 index 00000000..7acc2ec3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f5864bb0a05eb491697063685c4d6cb3 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs new file mode 100644 index 00000000..fa8ab005 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs @@ -0,0 +1,120 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for Biped IK Solvers. + * */ + public class BipedIKSolversInspector: IKSolverInspector { + + /* + * Returns all solvers SeiralizedProperties + * */ + public static SerializedProperty[] FindProperties(SerializedProperty prop) { + SerializedProperty[] props = new SerializedProperty[8] { + prop.FindPropertyRelative("leftFoot"), + prop.FindPropertyRelative("rightFoot"), + prop.FindPropertyRelative("leftHand"), + prop.FindPropertyRelative("rightHand"), + prop.FindPropertyRelative("spine"), + prop.FindPropertyRelative("aim"), + prop.FindPropertyRelative("lookAt"), + prop.FindPropertyRelative("pelvis"), + }; + + return props; + } + + /* + * Draws the custom inspector for BipedIK.Solvers + * */ + public static void AddInspector(SerializedProperty prop, SerializedProperty[] props) { + EditorGUILayout.PropertyField(prop, false); + + if (prop.isExpanded) { + for (int i = 0; i < props.Length; i++) { + BeginProperty(props[i]); + if (props[i].isExpanded) { + if (i <= 3) IKSolverLimbInspector.AddInspector(props[i], false, false); + else if (i == 4) IKSolverHeuristicInspector.AddInspector(props[i], false, false); + else if (i == 5) IKSolverAimInspector.AddInspector(props[i], false); + else if (i == 6) IKSolverLookAtInspector.AddInspector(props[i], false, false); + else if (i == 7) ConstraintsInspector.AddInspector(props[i]); + } + EndProperty(props[i]); + } + } + } + + /* + * Draws the scene view helpers for BipedIK.Solvers + * */ + public static void AddScene(BipedIKSolvers solvers, ref int selected) { + // Draw limbs + for (int i = 0; i < solvers.limbs.Length; i++) { + IKSolverLimbInspector.AddScene(solvers.limbs[i] as IKSolverLimb, GetSolverColor(i), selected == i); + } + + // Draw spine + IKSolverHeuristicInspector.AddScene(solvers.spine, GetSolverColor(4), selected == 4); + + // Draw look at + IKSolverLookAtInspector.AddScene(solvers.lookAt, GetSolverColor(5), selected == 5); + + // Draw aim + IKSolverAimInspector.AddScene(solvers.aim, GetSolverColor(6), selected == 6); + + // Draw constraints + ConstraintsInspector.AddScene(solvers.pelvis, GetSolverColor(7), selected == 7); + + // Selecting solvers + if (Application.isPlaying) { + for (int i = 0; i < solvers.ikSolvers.Length; i++) { + Handles.color = GetSolverColor(i); + if (solvers.ikSolvers[i].GetIKPositionWeight() > 0 && selected != i && solvers.ikSolvers[i].initiated) { + if (Inspector.DotButton(solvers.ikSolvers[i].GetIKPosition(), Quaternion.identity, GetHandleSize(solvers.ikSolvers[i].GetIKPosition()), GetHandleSize(solvers.ikSolvers[i].GetIKPosition()))) selected = i; + } + } + + if ((solvers.pelvis.positionWeight > 0 || solvers.pelvis.rotationWeight > 0) && selected != solvers.ikSolvers.Length) { + Handles.color = GetSolverColor(7); + if (Inspector.DotButton(solvers.pelvis.position, Quaternion.identity, GetHandleSize(solvers.pelvis.position), GetHandleSize(solvers.pelvis.position))) selected = solvers.ikSolvers.Length; + } + } + } + + /* + * Gets the color of the solver at index. + * */ + private static Color GetSolverColor(int index) { + if (index == 0 || index == 2) return new Color(0f, 0.8f, 1f, 1f); // Left limb + if (index == 1 || index == 3) return new Color(0.3f, 1f, 0.3f, 1f); // Right limb + if (index == 4) return new Color(1f, 0.5f, 0.5f, 1f); // Spine + if (index == 5) return new Color(0.2f, 0.5f, 1f, 1f); // Look At + if (index == 6) return new Color(1f, 0f, 0.5f, 1f); // Aim + if (index == 7) return new Color(0.9f, 0.9f, 0.9f, 1f); // Pelvis + return Color.white; + } + + /* + * Begin property box + * */ + private static void BeginProperty(SerializedProperty prop) { + EditorGUI.indentLevel = 1; + EditorGUILayout.BeginVertical("Box"); + + EditorGUILayout.PropertyField(prop, false); + } + + /* + * End Property box + * */ + private static void EndProperty(SerializedProperty prop) { + EditorGUILayout.EndVertical(); + if (prop.isExpanded) EditorGUILayout.Space(); + EditorGUI.indentLevel = 1; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs.meta new file mode 100644 index 00000000..09164d67 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/BipedIKSolversInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 0569aef68e5c24672b37607a948d3c92 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs new file mode 100644 index 00000000..07c55490 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for CCDIK. + * */ + [CustomEditor(typeof(CCDIK))] + public class CCDIKInspector : IKInspector { + + private CCDIK script { get { return target as CCDIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverCCD + IKSolverHeuristicInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverHeuristicInspector.AddScene(script.solver, Color.cyan, true); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs.meta new file mode 100644 index 00000000..43ac3989 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/CCDIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 90fdc724098474c78a5ae764777a5008 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs new file mode 100644 index 00000000..f84db9cb --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs @@ -0,0 +1,67 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for Constraints + * */ + public class ConstraintsInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for Constraints + * */ + public static void AddInspector(SerializedProperty prop) { + if (!prop.isExpanded) return; + + // Main properties + EditorGUILayout.PropertyField(prop.FindPropertyRelative("target"), new GUIContent("Target", "Target transform for the pelvis (optional). If assigned, will overwrite pelvis.position in each update.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("positionOffset"), new GUIContent("Pos Offset", "Pelvis offset from animation. If there is no animation playing and Fix Transforms is unchecked, it will make the character fly away.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("positionWeight"), new GUIContent("Pos Weight", "The weight of lerping the pelvis to bipedIK.solvers.pelvis.position.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("rotationOffset"), new GUIContent("Rot Offset", "Pelvis rotation offset from animation. If there is no animation playing and Fix Transforms is unchecked, it will make the character spin.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("rotationWeight"), new GUIContent("Rot Weight", "The weiight of slerping the pelvis to bipedIK.solver.pelvis.rotation.")); + + EditorGUILayout.Space(); + } + + /* + * Draws the scene view helpers for Constraints + * */ + public static void AddScene(Constraints constraints, Color color, bool modifiable) { + if (!constraints.IsValid()) return; + + Handles.color = color; + GUI.color = color; + + // Transform + Inspector.SphereCap(0, constraints.transform.position, Quaternion.identity, GetHandleSize(constraints.transform.position)); + + // Target + Handles.color = new Color(color.r, color.g, color.b, color.a * constraints.positionWeight); + Handles.DrawLine(constraints.transform.position, constraints.position); + Handles.color = color; + + if (Application.isPlaying && modifiable && (constraints.positionWeight > 0 || constraints.rotationWeight > 0)) { + Inspector.CubeCap(0, constraints.position, Quaternion.Euler(constraints.rotation), GetHandleSize(constraints.transform.position)); + + // Manipulating position and rotation + switch(Tools.current) { + case Tool.Move: + constraints.position = Handles.PositionHandle(constraints.position, Quaternion.Euler(constraints.rotation)); + break; + case Tool.Rotate: + constraints.rotation = Handles.RotationHandle(Quaternion.Euler(constraints.rotation), constraints.position).eulerAngles; + break; + } + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs.meta new file mode 100644 index 00000000..ac2dbd5b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/ConstraintsInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: b9903cbc6483347caadff80dc461c23f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs new file mode 100644 index 00000000..9e65d1a3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs @@ -0,0 +1,87 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEditor; +using UnityEditor.SceneManagement; + +namespace RootMotion.FinalIK +{ + [CustomEditor(typeof(EditorIK))] + public class EditorIKInspector : Editor + { + private EditorIK script { get { return target as EditorIK; } } + + public override void OnInspectorGUI() + { + base.OnInspectorGUI(); + + if (Application.isPlaying) return; + if (!script.enabled) return; + + EditorGUILayout.Space(); + + if (script.defaultPose != null && script.ik != null && !script.ik.GetIKSolver().executedInEditor) + { + if (GUILayout.Button("Store Default Pose")) + { + script.StoreDefaultPose(); + serializedObject.ApplyModifiedProperties(); + + EditorUtility.SetDirty(script.defaultPose); + AssetDatabase.SaveAssets(); + AssetDatabase.Refresh(); + } + + if (script.defaultPose.poseStored && script.defaultPose.localPositions.Length == script.bones.Length) + { + if (GUILayout.Button("Reset To Default Pose")) + { + script.defaultPose.Restore(script.bones); + + EditorSceneManager.MarkSceneDirty(EditorSceneManager.GetActiveScene()); + } + } + } + + EditorGUILayout.Space(); + + if (script.defaultPose != null && script.defaultPose.poseStored && script.ik != null) + { + if (!script.ik.GetIKSolver().executedInEditor) + { + bool isValid = script.ik.GetIKSolver().IsValid(); + EditorGUI.BeginDisabledGroup(!isValid); + if (GUILayout.Button(isValid? "Start Solver": "'Start Solver' disabled for invalid solver setup")) + { + bool initiated = script.Initiate(); + serializedObject.ApplyModifiedProperties(); + + EditorUtility.SetDirty(script.defaultPose); + AssetDatabase.SaveAssets(); + AssetDatabase.Refresh(); + + var ikS = new SerializedObject(script.ik); + ikS.FindProperty("solver").FindPropertyRelative("executedInEditor").boolValue = initiated; + ikS.ApplyModifiedProperties(); + + script.Update(); + + EditorSceneManager.MarkSceneDirty(EditorSceneManager.GetActiveScene()); + } + EditorGUI.EndDisabledGroup(); + } + + if (script.ik.GetIKSolver().executedInEditor) + { + if (GUILayout.Button("Stop")) + { + var ikS = new SerializedObject(script.ik); + ikS.FindProperty("solver").FindPropertyRelative("executedInEditor").boolValue = false; + ikS.ApplyModifiedProperties(); + } + } + } + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs.meta new file mode 100644 index 00000000..f5620d77 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/EditorIKInspector.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4bdb775e141709e40972e0ed29aecc04 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs new file mode 100644 index 00000000..b41d1320 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for FABRIK. + * */ + [CustomEditor(typeof(FABRIK))] + public class FABRIKInspector : IKInspector { + + private FABRIK script { get { return target as FABRIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverFABRIK + IKSolverHeuristicInspector.AddInspector(solver, !Application.isPlaying, false); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverHeuristicInspector.AddScene(script.solver, Color.cyan, true); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs.meta new file mode 100644 index 00000000..52e7929c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 35028d751824a4378ab31047db78a4ac +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs new file mode 100644 index 00000000..7203d14d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs @@ -0,0 +1,35 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for FABRIKRoot. + * */ + [CustomEditor(typeof(FABRIKRoot))] + public class FABRIKRootInspector : IKInspector { + + private FABRIKRoot script { get { return target as FABRIKRoot; }} + private FABRIKChain selectedChain; + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverFABRIKRoot + IKSolverFABRIKRootInspector.AddInspector(solver, !Application.isPlaying); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverFABRIKRootInspector.AddScene(script.solver, Color.cyan, true, ref selectedChain); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs.meta new file mode 100644 index 00000000..3cfa2f2d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FABRIKRootInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 97f4f303b23be42ddabd838850dd9c03 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs new file mode 100644 index 00000000..caad5048 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs @@ -0,0 +1,99 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion.FinalIK { + + // Custom Scene View handles for the FingerRig. + [CustomEditor(typeof(FingerRig))] + public class FingerRigInspector : Editor { + + private FingerRig script { get { return target as FingerRig; }} + + private int selected = -1; + private MonoScript monoScript; + + void OnEnable() { + if (serializedObject == null) return; + + // Changing the script execution order + if (!Application.isPlaying) { + monoScript = MonoScript.FromMonoBehaviour(script); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != 10000) MonoImporter.SetExecutionOrder(monoScript, 10000); + } + } + + void OnSceneGUI() { + if (!script.enabled) return; + string message = string.Empty; + if (!script.IsValid(ref message)) return; + if (Application.isPlaying && !script.initiated) return; + + Color color = Color.cyan; + color.a = script.weight; + + Handles.color = color; + GUI.color = color; + + // Display the bones + if (!Application.isPlaying) { + for (int i = 0; i < script.fingers.Length; i++) { + Handles.DrawLine(script.fingers[i].bone1.position, script.fingers[i].bone2.position); + Inspector.SphereCap(0, script.fingers[i].bone1.position, Quaternion.identity, IKSolverInspector.GetHandleSize(script.fingers[i].bone1.position) * 0.5f); + Inspector.SphereCap(0, script.fingers[i].bone2.position, Quaternion.identity, IKSolverInspector.GetHandleSize(script.fingers[i].bone2.position) * 0.5f); + + if (script.fingers[i].bone3 != null) { + Handles.DrawLine(script.fingers[i].bone2.position, script.fingers[i].bone3.position); + Handles.DrawLine(script.fingers[i].bone3.position, script.fingers[i].tip.position); + Inspector.SphereCap(0, script.fingers[i].bone3.position, Quaternion.identity, IKSolverInspector.GetHandleSize(script.fingers[i].bone3.position) * 0.5f); + } else { + Handles.DrawLine(script.fingers[i].bone2.position, script.fingers[i].tip.position); + } + + Inspector.SphereCap(0, script.fingers[i].tip.position, Quaternion.identity, IKSolverInspector.GetHandleSize(script.fingers[i].tip.position) * 0.5f); + } + } + + // Selecting solvers + if (Application.isPlaying) { + if (selected >= 0 && selected < script.fingers.Length) { + if (script.fingers[selected].weight > 0f) { + color.a = script.weight * script.fingers[selected].weight; + Handles.color = color; + + float size = IKSolverInspector.GetHandleSize(script.fingers[selected].IKPosition); + + Inspector.CubeCap(0, script.fingers[selected].IKPosition, script.fingers[selected].IKRotation, size); + + if (script.fingers[selected].target == null) { + switch(Tools.current) { + case Tool.Move: + script.fingers[selected].IKPosition = Handles.PositionHandle(script.fingers[selected].IKPosition, Tools.pivotRotation == PivotRotation.Local? script.fingers[selected].IKRotation: Quaternion.identity); + break; + case Tool.Rotate: + script.fingers[selected].IKRotation = Handles.RotationHandle(script.fingers[selected].IKRotation, script.fingers[selected].IKPosition); + break; + } + } + } + } + + for (int i = 0; i < script.fingers.Length; i++) { + color.a = script.weight * script.fingers[i].weight; + Handles.color = color; + Handles.DrawLine(script.fingers[i].tip.position, script.fingers[i].IKPosition); + + if (script.fingers[i].weight > 0 && selected != i && script.fingers[i].initiated) { + float size = IKSolverInspector.GetHandleSize(script.fingers[i].IKPosition) * 0.5f; + + if (Inspector.DotButton(script.fingers[i].IKPosition, Quaternion.identity, size, size)) selected = i; + } + } + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs.meta new file mode 100644 index 00000000..b73b9f4d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FingerRigInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: aa6fa0b5b780d4401b031336dd86cfa4 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs new file mode 100644 index 00000000..b180e548 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs @@ -0,0 +1,107 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + + namespace RootMotion.FinalIK { + + /* + * Custom inspector for FullBodyBipedIK. + * */ + [CustomEditor(typeof(FullBodyBipedIK))] + public class FullBodyBipedIKInspector : IKInspector { + + private FullBodyBipedIK script { get { return target as FullBodyBipedIK; }} + private int selectedEffector; + private SerializedProperty references; + private bool autodetected; + + private static Color color { + get { + return new Color(0f, 0.75f, 1f); + } + } + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9999; + return script; + } + + protected override void OnEnableVirtual() { + references = serializedObject.FindProperty("references"); + + // Autodetecting References + if (script.references.IsEmpty(false) && script.enabled) { + BipedReferences.AutoDetectReferences(ref script.references, script.transform, new BipedReferences.AutoDetectParams(true, false)); + + script.solver.rootNode = IKSolverFullBodyBiped.DetectRootNodeBone(script.references); + + Initiate(); + + if (Application.isPlaying) Warning.Log("Biped references were auto-detected on a FullBodyBipedIK component that was added in runtime. Note that this only happens in the Editor and if the GameObject is selected (for quick and convenient debugging). If you want to add FullBodyBipedIK dynamically in runtime via script, you will have to use BipedReferences.AutodetectReferences() for automatic biped detection.", script.transform); + + references.isExpanded = !script.references.isFilled; + } + } + + protected override void AddInspector() { + // While in editor + if (!Application.isPlaying) { + // Editing References, if they have changed, reinitiate. + if (BipedReferencesInspector.AddModifiedInspector(references)) { + Initiate(); + return; // Don't draw immediatelly to avoid errors + } + // Root Node + IKSolverFullBodyBipedInspector.AddReferences(true, solver); + + // Reinitiate if rootNode has changed + if (serializedObject.ApplyModifiedProperties()) { + Initiate(); + return; // Don't draw immediatelly to avoid errors + } + } else { + // While in play mode + + // Draw the references and the root node for UMA + BipedReferencesInspector.AddModifiedInspector(references); + IKSolverFullBodyBipedInspector.AddReferences(true, solver); + } + + string errorMessage = string.Empty; + if (script.ReferencesError(ref errorMessage) || !script.solver.IsValid(ref errorMessage)) { + AddWarningBox(errorMessage); + Warning.Log(errorMessage, script.transform, false); + } else { + // Draw the inspector for IKSolverFullBody + IKSolverFullBodyBipedInspector.AddInspector(solver, false); + } + + EditorGUILayout.Space(); + } + + private void Initiate() { + Warning.logged = false; + + // Check for possible errors, if found, do not initiate + string message = ""; + if (script.ReferencesError(ref message)) { + Warning.Log(message, script.transform, false); + return; + } + + // Notify of possible problems, but still initiate + if (script.ReferencesWarning(ref message)) Warning.Log(message, script.transform, false); + + // Initiate + script.solver.SetToReferences(script.references, script.solver.rootNode); + } + + // Draw the scene view handles + void OnSceneGUI() { + // Draw the scene veiw helpers + if (!script.references.isFilled) return; + + IKSolverFullBodyBipedInspector.AddScene(target, script.solver, color, ref selectedEffector, script.transform); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs.meta new file mode 100644 index 00000000..f1b27f50 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/FullBodyBipedIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a1af94c10682a46c0849b487ad86dd40 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs new file mode 100644 index 00000000..bd8d3890 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs @@ -0,0 +1,13 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + public class GroundingInspector : Editor { + + public static void Visualize(Grounding grounding, Transform root, Transform foot) { + Inspector.SphereCap (0, foot.position + root.forward * grounding.footCenterOffset, root.rotation, grounding.footRadius * 2f); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs.meta new file mode 100644 index 00000000..affa89da --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/GroundingInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 43cffbb650ededd4bbfb46bf19a74782 +timeCreated: 1487065127 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs new file mode 100644 index 00000000..ca68148a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs @@ -0,0 +1,106 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKEffector + * */ + public class IKEffectorInspector: IKSolverInspector { + + #region Public methods + + public static void DrawArrayElementEffector(SerializedProperty effector, bool editHierarchy) { + if (!editHierarchy) return; + + if (effector.FindPropertyRelative("bones").arraySize > 1) { + GUILayout.BeginHorizontal(); + GUILayout.Space(indent); + AddClampedFloat(effector.FindPropertyRelative("falloff"), new GUIContent("Distance Falloff", string.Empty), 0f, Mathf.Infinity); + GUILayout.EndHorizontal(); + } + + AddArray(effector.FindPropertyRelative("bones"), new GUIContent("Bones", string.Empty), editHierarchy, false, null, OnAddToArrayBone, DrawArrayElementLabelBone, false); + + if (effector.isExpanded) EditorGUILayout.Space(); + } + + public static void OnAddToArrayEffector(SerializedProperty effector) { + effector.FindPropertyRelative("positionWeight").floatValue = 0f; + effector.FindPropertyRelative("rotationWeight").floatValue = 0f; + effector.FindPropertyRelative("falloff").floatValue = 0.5f; + effector.FindPropertyRelative("position").vector3Value = Vector3.zero; + effector.FindPropertyRelative("positionOffset").vector3Value = Vector3.zero; + } + + public static void DrawArrayElementLabelEffector(SerializedProperty effector, bool editHierarchy) { + GUILayout.Space(Inspector.indent); + if (editHierarchy) { + EditorGUILayout.PropertyField(effector, new GUIContent(GetArrayName(effector.FindPropertyRelative("bones"), "Effector"), string.Empty), false, GUILayout.Width(100)); + } else { + EditorGUILayout.LabelField(new GUIContent(GetArrayName(effector.FindPropertyRelative("bones"), "Effector"), string.Empty), GUILayout.Width(100)); + } + + GUILayout.Space(10); + + GUILayout.Label("Position", GUILayout.Width(50)); + effector.FindPropertyRelative("positionWeight").floatValue = GUILayout.HorizontalSlider(effector.FindPropertyRelative("positionWeight").floatValue, 0f, 1f, GUILayout.Width(50)); + + GUILayout.Space(5); + + GUILayout.Label("Rotation", GUILayout.Width(50)); + effector.FindPropertyRelative("rotationWeight").floatValue = GUILayout.HorizontalSlider(effector.FindPropertyRelative("rotationWeight").floatValue, 0f, 1f, GUILayout.Width(50)); + + if (!editHierarchy && effector.FindPropertyRelative("bones").arraySize > 1) { + EditorGUILayout.LabelField(new GUIContent("Falloff", string.Empty), GUILayout.Width(50)); + EditorGUILayout.PropertyField(effector.FindPropertyRelative("falloff"), GUIContent.none); + effector.FindPropertyRelative("falloff").floatValue = Mathf.Clamp(effector.FindPropertyRelative("falloff").floatValue, 0f, Mathf.Infinity); + } + + } + + public static void AddScene(IKEffector e, Color color, bool modifiable, float size) { + if (!modifiable) return; + + // Draw effectors + bool rotate = e.isEndEffector; + float weight = rotate? Mathf.Max(e.positionWeight, e.rotationWeight): e.positionWeight; + + if (e.bone != null && weight > 0) { + + //if (Application.isPlaying) { + Handles.color = new Color(color.r, color.g, color.b, weight); + + Handles.DrawLine(e.position, e.bone.position); + Inspector.SphereCap(0, e.bone.position, Quaternion.identity, size * 0.5f); + + // Manipulating position and rotation + if (e.target == null) { + switch(Tools.current) { + case Tool.Move: + e.position = Handles.PositionHandle(e.position, Quaternion.identity); + break; + case Tool.Rotate: + if (rotate) e.rotation = Handles.RotationHandle(e.rotation, e.position); + break; + } + } + + if (rotate) Inspector.CubeCap(0, e.position, e.rotation, size); + else Inspector.SphereCap(0, e.position, Quaternion.identity, size); + //} + } + } + + #endregion Public methods + + private static void DrawArrayElementLabelBone(SerializedProperty bone, bool editHierarchy) { + AddObjectReference(bone, GUIContent.none, editHierarchy, 0, 300); + } + + private static void OnAddToArrayBone(SerializedProperty bone) { + bone.objectReferenceValue = null; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs.meta new file mode 100644 index 00000000..e7142240 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKEffectorInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f11a75612fdb244758156ae2d26a95ec +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs new file mode 100644 index 00000000..ce66492b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs @@ -0,0 +1,27 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + // Custom inspector for IKExecutionOrder + [CustomEditor(typeof(IKExecutionOrder))] + public class IKExecutionOrderInspector : Editor { + + private IKExecutionOrder script { get { return target as IKExecutionOrder; }} + + private MonoScript monoScript; + + void OnEnable() { + if (serializedObject == null) return; + + // Changing the script execution order + if (!Application.isPlaying) { + int executionOrder = 9996; + monoScript = MonoScript.FromMonoBehaviour(script); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != executionOrder) MonoImporter.SetExecutionOrder(monoScript, executionOrder); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs.meta new file mode 100644 index 00000000..fc62b40b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKExecutionOrderInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e2d73247f9c4b4190a30f8e4cc054bc5 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs new file mode 100644 index 00000000..28790230 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs @@ -0,0 +1,67 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Base abstract class for IK component inspectors. + * */ + public abstract class IKInspector : Editor { + + protected abstract void AddInspector(); + protected abstract MonoBehaviour GetMonoBehaviour(out int executionOrder); + + protected SerializedProperty solver; + protected SerializedContent fixTransforms; + protected SerializedContent[] content; + protected virtual void OnApplyModifiedProperties() {} + protected virtual void OnEnableVirtual() {} + + private MonoScript monoScript; + + void OnEnable() { + if (serializedObject == null) return; + + // Changing the script execution order + if (!Application.isPlaying) { + int executionOrder = 0; + monoScript = MonoScript.FromMonoBehaviour(GetMonoBehaviour(out executionOrder)); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != executionOrder) MonoImporter.SetExecutionOrder(monoScript, executionOrder); + } + + solver = serializedObject.FindProperty("solver"); + fixTransforms = new SerializedContent(serializedObject.FindProperty("fixTransforms"), new GUIContent("Fix Transforms", "If true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance. Not recommended for CCD and FABRIK solvers.")); + + OnEnableVirtual(); + } + + // Override the default warning box + protected virtual void AddWarningBox(string message) { + EditorGUILayout.Space(); + + EditorGUILayout.LabelField("Invalid/incomplete setup, can not initiate the solver. " + message, EditorStyles.helpBox); + + EditorGUILayout.Space(); + } + + #region Inspector + + public override void OnInspectorGUI() { + if (serializedObject == null) return; + + serializedObject.Update(); + + Inspector.AddContent(fixTransforms); + + AddInspector(); + + if (serializedObject.ApplyModifiedProperties()) { + OnApplyModifiedProperties(); + } + } + + #endregion Inspector + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs.meta new file mode 100644 index 00000000..44cc084c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 00e26cb6b10c641c49833ea4316e25cf +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs new file mode 100644 index 00000000..813364b3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs @@ -0,0 +1,103 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + + namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverAim + * */ + public class IKSolverAimInspector: IKSolverInspector { + + #region Public methods + + /// + /// Draws the custom inspector for IKSolverAim + /// + public static void AddInspector(SerializedProperty prop, bool editHierarchy) { + IKSolverHeuristicInspector.AddTarget(prop); + if (!prop.FindPropertyRelative("XY").boolValue) EditorGUILayout.PropertyField(prop.FindPropertyRelative("poleTarget"), new GUIContent("Pole Target", "If assigned, will automatically set polePosition to the position of this Transform.")); + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("transform"), new GUIContent("Aim Transform", "The transform that you want to be aimed at the target. Needs to be a lineal descendant of the bone hierarchy. For example, if you wish to aim a gun, it should be the gun, one of its children or the hand bone.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("axis"), new GUIContent("Axis", "The local axis of the Transform that you want to be aimed at IKPosition.")); + if (!prop.FindPropertyRelative("XY").boolValue) EditorGUILayout.PropertyField(prop.FindPropertyRelative("poleAxis"), new GUIContent("Pole Axis", "Keeps that axis of the Aim Transform directed at the polePosition.")); + + EditorGUILayout.Space(); + IKSolverHeuristicInspector.AddIKPositionWeight(prop); + + if (!prop.FindPropertyRelative("XY").boolValue) EditorGUILayout.PropertyField(prop.FindPropertyRelative("poleWeight"), new GUIContent("Pole Weight", "The weight of the Pole.")); + + IKSolverHeuristicInspector.AddProps(prop); + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampWeight"), new GUIContent("Clamp Weight", "Clamping rotation of the solver. 0 is free rotation, 1 is completely clamped to transform axis.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampSmoothing"), new GUIContent("Clamp Smoothing", "Number of sine smoothing iterations applied on clamping to make the clamping point smoother.")); + + IKSolverHeuristicInspector.AddBones(prop, editHierarchy, true); + } + + /// + /// Draws the scene view helpers for IKSolverAim + /// + public static void AddScene(IKSolverAim solver, Color color, bool modifiable) { + // Protect from null reference errors + if (solver.transform == null) return; + if (Application.isPlaying && !solver.initiated) return; + + if (!Application.isPlaying) { + string message = string.Empty; + if (!solver.IsValid(ref message)) return; + } + + Handles.color = color; + GUI.color = color; + + // Display the bones + for (int i = 0; i < solver.bones.Length; i++) { + IKSolver.Bone bone = solver.bones[i]; + + if (i < solver.bones.Length - 1) Handles.DrawLine(bone.transform.position, solver.bones[i + 1].transform.position); + Inspector.SphereCap(0, solver.bones[i].transform.position, Quaternion.identity, GetHandleSize(solver.bones[i].transform.position)); + } + + if (solver.axis != Vector3.zero) Inspector.ConeCap(0, solver.transform.position, Quaternion.LookRotation(solver.transform.rotation * solver.axis), GetHandleSize(solver.transform.position) * 2f); + + // Selecting joint and manipulating IKPosition + if (Application.isPlaying && solver.IKPositionWeight > 0) { + if (modifiable) { + Inspector.SphereCap(0, solver.IKPosition, Quaternion.identity, GetHandleSize(solver.IKPosition)); + + // Manipulating position + solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + } + + // Draw a transparent line from transform to IKPosition + Handles.color = new Color(color.r, color.g, color.b, color.a * solver.IKPositionWeight); + Handles.DrawLine(solver.bones[solver.bones.Length - 1].transform.position, solver.transform.position); + Handles.DrawLine(solver.transform.position, solver.IKPosition); + } + + Handles.color = color; + + // Pole + if (Application.isPlaying && solver.poleWeight > 0f) { + if (modifiable) { + Inspector.SphereCap(0, solver.polePosition, Quaternion.identity, GetHandleSize(solver.IKPosition) * 0.5f); + + // Manipulating position + solver.polePosition = Handles.PositionHandle(solver.polePosition, Quaternion.identity); + } + + // Draw a transparent line from transform to polePosition + Handles.color = new Color(color.r, color.g, color.b, color.a * solver.poleWeight); + Handles.DrawLine(solver.transform.position, solver.polePosition); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs.meta new file mode 100644 index 00000000..b642e70b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverAimInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 13082609a38964d0486119efce14e42c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs new file mode 100644 index 00000000..757fdb7e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs @@ -0,0 +1,110 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverArm + * */ + public class IKSolverArmInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverTrigonometric + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool showReferences) { + EditorGUI.indentLevel = 0; + + // Bone references + if (showReferences) { + EditorGUILayout.Space(); + AddObjectReference(prop.FindPropertyRelative("chest.transform"), new GUIContent("Chest", "The last spine bone."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("shoulder.transform"), new GUIContent("Shoulder", "The shoulder (clavicle) bone."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("upperArm.transform"), new GUIContent("Upper Arm", "The upper arm bone."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("forearm.transform"), new GUIContent("Forearm", "The forearm bone."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("hand.transform"), new GUIContent("Hand", "The hand bone."), editHierarchy, 100); + + EditorGUILayout.Space(); + } + + // Hand + EditorGUILayout.PropertyField(prop.FindPropertyRelative("isLeft"), new GUIContent("Is Left", "Check this if this is the left arm, uncheck if right.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.target"), new GUIContent("Target", "The target Transform. Solver IKPosition will be automatically set to the position of the target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Position Weight", "Solver weight for smooth blending.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKRotationWeight"), new GUIContent("Rotation Weight", "Weight of last bone's rotation to IKRotation.")); + + // Shoulder + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.shoulderRotationMode"), new GUIContent("Shoulder Rotation Mode", " Different techniques for shoulder bone rotation.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.shoulderRotationWeight"), new GUIContent("Shoulder Rotation Weight", " The weight of shoulder rotation.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.shoulderTwistWeight"), new GUIContent("Shoulder Twist Weight", " The weight of twisting the shoulders backwards when arms are lifted up.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.shoulderYawOffset"), new GUIContent("Shoulder Yaw Offset", " Tweak this value to adjust shoulder rotation around the yaw (up) axis.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.shoulderPitchOffset"), new GUIContent("Shoulder Pitch Offset", " Tweak this value to adjust shoulder rotation around the pitch (forward) axis.")); + + // Bending + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.bendGoal"), new GUIContent("Bend Goal", "If assigned, the knee will be bent in the direction towards this transform.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.bendGoalWeight"), new GUIContent("Bend Goal Weight", "Weight of the bend goal.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.swivelOffset"), new GUIContent("Swivel Offset", "Angular offset of the arm's bending direction.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.wristToPalmAxis"), new GUIContent("Wrist To Palm Axis", "Local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.palmToThumbAxis"), new GUIContent("Palm To Thumb Axis", "Local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation.")); + + // Stretching + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.armLengthMlp"), new GUIContent("Arm Length Mlp", "Use this to make the arm shorter/longer.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("arm.stretchCurve"), new GUIContent("Stretch Curve", "Evaluates stretching of the arm by target distance relative to arm length. Value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length).")); + } + + /* + * Draws the scene view helpers for IKSolverTrigonometric + * */ + public static void AddScene(IKSolverArm solver, Color color, bool modifiable) { + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + //float length = Vector3.Distance(solver.bone1.transform.position, solver.bone2.transform.position) + Vector3.Distance(solver.bone2.transform.position, solver.bone3.transform.position); + //float size = length * 0.05f; + + Handles.color = color; + GUI.color = color; + + // Chain lines + Handles.DrawLine(solver.chest.transform.position, solver.shoulder.transform.position); + Handles.DrawLine(solver.shoulder.transform.position, solver.upperArm.transform.position); + Handles.DrawLine(solver.upperArm.transform.position, solver.forearm.transform.position); + Handles.DrawLine(solver.forearm.transform.position, solver.hand.transform.position); + + // Joints + Inspector.SphereCap(0, solver.chest.transform.position, Quaternion.identity, GetHandleSize(solver.chest.transform.position)); + Inspector.SphereCap(0, solver.shoulder.transform.position, Quaternion.identity, GetHandleSize(solver.shoulder.transform.position)); + Inspector.SphereCap(0, solver.upperArm.transform.position, Quaternion.identity, GetHandleSize(solver.upperArm.transform.position)); + Inspector.SphereCap(0, solver.forearm.transform.position, Quaternion.identity, GetHandleSize(solver.forearm.transform.position)); + Inspector.SphereCap(0, solver.hand.transform.position, Quaternion.identity, GetHandleSize(solver.hand.transform.position)); + + if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0)) { + if (modifiable) { + Inspector.CubeCap(0, solver.IKPosition, solver.IKRotation, GetHandleSize(solver.IKPosition)); + + // Manipulating position and rotation + switch(Tools.current) { + case Tool.Move: + if (solver.arm.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + break; + case Tool.Rotate: + if (solver.arm.target == null) solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition); + break; + } + } + + // Target + Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight)); + Handles.DrawLine(solver.hand.transform.position, solver.IKPosition); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs.meta new file mode 100644 index 00000000..075d96ad --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverArmInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 2096c71e8e55def4bafe5d7f1604ea55 +timeCreated: 1528379406 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs new file mode 100644 index 00000000..1f8afb1b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs @@ -0,0 +1,94 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + + namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverFABRIKRoot + * */ + public class IKSolverFABRIKRootInspector : IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverFABRIKRoot + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy) { + AddClampedInt(prop.FindPropertyRelative("iterations"), new GUIContent("Iterations", "Solver iterations."), 0, int.MaxValue); + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Weight", "Solver weight.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("rootPin"), new GUIContent("Root Pin", "Weight of keeping all FABRIK Trees pinned to the root position.")); + + EditorGUILayout.Space(); + + EditorGUI.indentLevel = 0; + EditorGUILayout.PropertyField(prop.FindPropertyRelative("chains"), new GUIContent("Chains", "FABRIK chains."), true); + + EditorGUILayout.Space(); + } + + /* + * Draws the scene view helpers for IKSolverFABRIKRoot + * */ + public static void AddScene(IKSolverFABRIKRoot solver, Color color, bool modifiable, ref FABRIKChain selected) { + // Protect from null reference errors + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying) { + string message = string.Empty; + if (!solver.IsValid(ref message)) return; + } + Handles.color = color; + + // Selecting solvers + if (Application.isPlaying) { + SelectChain(solver.chains, ref selected, color); + } + + AddSceneChain(solver.chains, color, selected); + + // Root pin + Handles.color = new Color(Mathf.Lerp(1f, color.r, solver.rootPin), Mathf.Lerp(1f, color.g, solver.rootPin), Mathf.Lerp(1f, color.b, solver.rootPin), Mathf.Lerp(0.5f, 1f, solver.rootPin)); + if (solver.GetRoot() != null) { + Handles.DrawLine(solver.chains[0].ik.solver.bones[0].transform.position, solver.GetRoot().position); + Inspector.CubeCap(0, solver.GetRoot().position, Quaternion.identity, GetHandleSize(solver.GetRoot().position)); + } + } + + #endregion Public methods + + private static Color col, midColor, endColor; + + private static void SelectChain(FABRIKChain[] chain, ref FABRIKChain selected, Color color) { + foreach (FABRIKChain c in chain) { + if (c.ik.solver.IKPositionWeight > 0 && selected != c) { + Handles.color = GetChainColor(c, color); + + if (Inspector.DotButton(c.ik.solver.GetIKPosition(), Quaternion.identity, GetHandleSize(c.ik.solver.GetIKPosition()), GetHandleSize(c.ik.solver.GetIKPosition()))) { + selected = c; + return; + } + } + } + } + + private static Color GetChainColor(FABRIKChain chain, Color color) { + float midWeight = chain.pin; + midColor = new Color(Mathf.Lerp(1f, color.r, midWeight), Mathf.Lerp(1f, color.g, midWeight), Mathf.Lerp(1f, color.b, midWeight), Mathf.Lerp(0.5f, 1f, midWeight)); + + float endWeight = chain.pull; + endColor = new Color(Mathf.Lerp(1f, color.r, endWeight), Mathf.Lerp(0f, color.g, endWeight), Mathf.Lerp(0f, color.b, endWeight), Mathf.Lerp(0.5f, 1f, endWeight)); + + return chain.children.Length == 0? endColor: midColor; + } + + private static void AddSceneChain(FABRIKChain[] chain, Color color, FABRIKChain selected) { + foreach (FABRIKChain c in chain) { + col = GetChainColor(c, color); + + IKSolverHeuristicInspector.AddScene(c.ik.solver as IKSolverHeuristic, col, selected == c); + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs.meta new file mode 100644 index 00000000..7e28be2c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFABRIKRootInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 47b6cc68611af428d82361a2eb3d8505 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs new file mode 100644 index 00000000..f57573f6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs @@ -0,0 +1,339 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + // Custom inspector and scene view tools for IKSolverFullBodyBiped + public class IKSolverFullBodyBipedInspector : IKSolverInspector { + + #region Public methods + + public static void AddReferences(bool editHierarchy, SerializedProperty prop) { + // RootNode + if (editHierarchy) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("rootNode"), new GUIContent("Root Node", "Select one of the bones in the (lower) spine.")); + } + } + + // Draws the custom inspector for IKSolverFullBodybiped + public static void AddInspector(SerializedProperty prop, bool editWeights) { + IKSolverFullBodyInspector.AddInspector(prop, editWeights); + + EditorGUILayout.Space(); + EditorGUI.indentLevel = 0; + + AddSolver(prop); + } + + + // Draws the scene view helpers for IKSolverFullBodyBiped + public static void AddScene(UnityEngine.Object target, IKSolverFullBodyBiped solver, Color color, ref int selectedEffector, Transform root) { + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + bool modifiable = solver.initiated; + + float heightF = Vector3.Distance(solver.chain[1].nodes[0].transform.position, solver.chain[1].nodes[1].transform.position) + + Vector3.Distance(solver.chain[3].nodes[0].transform.position, solver.chain[3].nodes[1].transform.position); + + float size = Mathf.Clamp(heightF * 0.075f, 0.001f, Mathf.Infinity); + + // Bend goals + for (int i = 0; i < solver.chain.Length; i++) { + if (solver.chain[i].nodes.Length == 3 && solver.chain[i].bendConstraint.bendGoal != null && solver.chain[i].bendConstraint.weight > 0f) { + Color c = color; + c.a = solver.chain[i].bendConstraint.weight; + Handles.color = c; + + Handles.DrawLine(solver.chain[i].nodes[1].transform.position, solver.chain[i].bendConstraint.bendGoal.position); + Inspector.SphereCap(0, solver.chain[i].nodes[1].transform.position, Quaternion.identity, size * 0.5f); + Inspector.SphereCap(0, solver.chain[i].bendConstraint.bendGoal.position, Quaternion.identity, size * 0.5f); + + Handles.color = Color.white; + } + } + + // Chain + if (!modifiable) { + for (int i = 0; i < solver.chain.Length; i++) { + IKSolverFullBodyInspector.AddChain(solver.chain, i, color, size); + } + + Handles.DrawLine(solver.chain[1].nodes[0].transform.position, solver.chain[2].nodes[0].transform.position); + Handles.DrawLine(solver.chain[3].nodes[0].transform.position, solver.chain[4].nodes[0].transform.position); + + AddLimbHelper(solver.chain[1], size); + AddLimbHelper(solver.chain[2], size); + AddLimbHelper(solver.chain[3], size, root); + AddLimbHelper(solver.chain[4], size, root); + } + + // Effectors + IKSolverFullBodyInspector.AddScene(target, solver, color, modifiable, ref selectedEffector, size); + } + + // Scene view handles to help with limb setup + private static void AddLimbHelper(FBIKChain chain, float size, Transform root = null) { + Vector3 cross = Vector3.Cross((chain.nodes[1].transform.position - chain.nodes[0].transform.position).normalized, (chain.nodes[2].transform.position - chain.nodes[0].transform.position).normalized); + + Vector3 bendDirection = -Vector3.Cross(cross.normalized, (chain.nodes[2].transform.position - chain.nodes[0].transform.position).normalized); + + if (bendDirection != Vector3.zero) { + Color c = Handles.color; + bool inverted = root != null && Vector3.Dot(root.forward, bendDirection.normalized) < 0f; + + // Inverted bend direction + if (inverted) { + GUI.color = new Color(1f, 0.75f, 0.75f); + Handles.color = Color.yellow; + + if (Inspector.DotButton(chain.nodes[1].transform.position, Quaternion.identity, size * 0.5f, size)) { + Warning.logged = false; + Warning.Log("The bend direction of this limb appears to be inverted. Please rotate this bone so that the limb is bent in its natural bending direction. If this limb is supposed to be bent in the direction pointed by the arrow, ignore this warning.", root, true); + } + } + + Inspector.ArrowCap(0, chain.nodes[1].transform.position, Quaternion.LookRotation(bendDirection), size * 2f); + + GUI.color = Color.white; + Handles.color = c; + } else { + // The limb is completely stretched out + Color c = Handles.color; + Handles.color = Color.red; + GUI.color = new Color(1f, 0.75f, 0.75f); + + if (Inspector.DotButton(chain.nodes[1].transform.position, Quaternion.identity, size * 0.5f, size)) { + Warning.logged = false; + Warning.Log("The limb is completely stretched out. Full Body Biped IK does not know which way the limb should be bent. Please rotate this bone slightly in its bending direction.", root, true); + } + + GUI.color = Color.white; + Handles.color = c; + } + } + + #endregion Public methods + + private const string style = "Box"; + + private static void AddProperty(SerializedProperty prop, GUIContent guiContent) { + GUILayout.BeginHorizontal(); + GUILayout.Space(50); + EditorGUILayout.PropertyField(prop, guiContent); + GUILayout.Space(20); + GUILayout.EndHorizontal(); + } + + private static void AddSolver(SerializedProperty prop) { + var chains = prop.FindPropertyRelative("chain"); + + AddBody(prop, chains.GetArrayElementAtIndex(0), new GUIContent("Body", string.Empty)); + AddLimb(prop, chains.GetArrayElementAtIndex(1), FullBodyBipedChain.LeftArm, new GUIContent("Left Arm", string.Empty)); + AddLimb(prop, chains.GetArrayElementAtIndex(2), FullBodyBipedChain.RightArm, new GUIContent("Right Arm", string.Empty)); + AddLimb(prop, chains.GetArrayElementAtIndex(3), FullBodyBipedChain.LeftLeg, new GUIContent("Left Leg", string.Empty)); + AddLimb(prop, chains.GetArrayElementAtIndex(4), FullBodyBipedChain.RightLeg, new GUIContent("Right Leg", string.Empty)); + } + + private static void AddBody(SerializedProperty prop, SerializedProperty chain, GUIContent guiContent) { + EditorGUILayout.PropertyField(chain, guiContent, false); + GUILayout.BeginHorizontal(); + GUILayout.Space(10); + GUILayout.BeginVertical(); + + if (chain.isExpanded) { + var effectors = prop.FindPropertyRelative("effectors"); + var effector = effectors.GetArrayElementAtIndex(0); + var spineMapping = prop.FindPropertyRelative("spineMapping"); + var headMapping = prop.FindPropertyRelative("boneMappings").GetArrayElementAtIndex(0); + + GUILayout.BeginVertical(style); + + DrawLabel("Body Effector", startEffectorIcon); + + AddProperty(effector.FindPropertyRelative("target"), new GUIContent("Target", "Target Transform (optional, you can also use bodyEffector.position and bodyEffector.rotation directly).")); + AddProperty(effector.FindPropertyRelative("positionWeight"), new GUIContent("Position Weight", "The weight of pinning the effector bone to the effector position.")); + AddProperty(effector.FindPropertyRelative("effectChildNodes"), new GUIContent("Use Thighs", "If true, the effect of the body effector will be applied to also the thigh effectors (IKEffector.effectChildNodes).")); + + DrawLabel("Chain", null); + + // Spine stiffness + AddProperty(prop.FindPropertyRelative("spineStiffness"), new GUIContent("Spine Stiffness", "The bend resistance of the spine.")); + + // Pull Body + AddProperty(prop.FindPropertyRelative("pullBodyVertical"), new GUIContent("Pull Body Vertical", "Weight of hand effectors pulling the body vertically.")); + AddProperty(prop.FindPropertyRelative("pullBodyHorizontal"), new GUIContent("Pull Body Horizontal", "Weight of hand effectors pulling the body horizontally.")); + + DrawLabel("Mapping", null); + + AddProperty(spineMapping.FindPropertyRelative("iterations"), new GUIContent("Spine Iterations", "The number of FABRIK iterations for mapping the spine bones to the solver armature.")); + AddProperty(spineMapping.FindPropertyRelative("twistWeight"), new GUIContent("Spine Twist Weight", "The weight of spine twist.")); + AddProperty(headMapping.FindPropertyRelative("maintainRotationWeight"), new GUIContent("Maintain Head Rot", "The weight of maintaining the bone's animated rotation in world space.")); + + GUILayout.Space(5); + GUILayout.EndVertical(); + } + + GUILayout.EndVertical(); + GUILayout.EndHorizontal(); + } + + private static void AddLimb(SerializedProperty prop, SerializedProperty chain, FullBodyBipedChain chainType, GUIContent guiContent) { + EditorGUILayout.PropertyField(chain, guiContent, false); + GUILayout.BeginHorizontal(); + GUILayout.Space(10); + GUILayout.BeginVertical(); + + if (chain.isExpanded) { + var effectors = prop.FindPropertyRelative("effectors"); + var endEffector = effectors.GetArrayElementAtIndex(GetEndEffectorIndex(chainType)); + var startEffector = effectors.GetArrayElementAtIndex(GetStartEffectorIndex(chainType)); + var mapping = prop.FindPropertyRelative("limbMappings").GetArrayElementAtIndex(GetLimbMappingIndex(chainType)); + + GUILayout.BeginVertical(style); + + DrawLabel(GetEndEffectorName(chainType), endEffectorIcon); + + AddProperty(endEffector.FindPropertyRelative("target"), new GUIContent("Target", "Target Transform (optional, you can also use IKEffector.position and IKEffector.rotation directly).")); + AddProperty(endEffector.FindPropertyRelative("positionWeight"), new GUIContent("Position Weight", "The weight of pinning the effector bone to the effector position.")); + AddProperty(endEffector.FindPropertyRelative("rotationWeight"), new GUIContent("Rotation Weight", "The weight of pinning the effector bone to the effector rotation.")); + AddProperty(endEffector.FindPropertyRelative("maintainRelativePositionWeight"), new GUIContent("Maintain Relative Pos", "Maintains the position of the hand/foot fixed relative to the chest/hips while effector positionWeight is not weighed in.")); + + DrawLabel(GetStartEffectorName(chainType), startEffectorIcon); + + AddProperty(startEffector.FindPropertyRelative("target"), new GUIContent("Target", "Target Transform (optional, you can also use IKEffector.position and IKEffector.rotation directly).")); + AddProperty(startEffector.FindPropertyRelative("positionWeight"), new GUIContent("Position Weight", "The weight of pinning the effector bone to the effector position.")); + + DrawLabel("Chain", null); + + AddProperty(chain.FindPropertyRelative("pull"), new GUIContent("Pull", "The weight of pulling other chains.")); + AddProperty(chain.FindPropertyRelative("reach"), new GUIContent("Reach", "Pulls the first node closer to the last node of the chain.")); + AddProperty(chain.FindPropertyRelative("push"), new GUIContent("Push", "The weight of the end-effector pushing the first node.")); + AddProperty(chain.FindPropertyRelative("pushParent"), new GUIContent("Push Parent", "The amount of push force transferred to the parent (from hand or foot to the body).")); + AddProperty(chain.FindPropertyRelative("reachSmoothing"), new GUIContent("Reach Smoothing", "Smoothing the effect of the Reach with the expense of some accuracy.")); + AddProperty(chain.FindPropertyRelative("pushSmoothing"), new GUIContent("Push Smoothing", "Smoothing the effect of the Push.")); + AddProperty(chain.FindPropertyRelative("bendConstraint").FindPropertyRelative("bendGoal"), new GUIContent("Bend Goal", "The Transform to bend towards (optional, you can also use ik.leftArmChain.bendConstraint.direction).")); + AddProperty(chain.FindPropertyRelative("bendConstraint").FindPropertyRelative("weight"), new GUIContent("Bend Goal Weight", "The weight of to bending towards the Bend Goal (optional, you can also use ik.leftArmChain.bendConstraint.weight).")); + + DrawLabel("Mapping", null); + + AddProperty(mapping.FindPropertyRelative("weight"), new GUIContent("Mapping Weight", "The weight of mapping the limb to its IK pose. This can be useful if you want to disable the effect of IK for the limb.")); + AddProperty(mapping.FindPropertyRelative("maintainRotationWeight"), new GUIContent(GetEndBoneMappingName(chainType), "The weight of maintaining the bone's animated rotation in world space.")); + + GUILayout.Space(5); + GUILayout.EndVertical(); + } + + GUILayout.EndVertical(); + GUILayout.EndHorizontal(); + } + + private static void DrawLabel(string label, Texture2D texture) { + GUILayout.Space(3); + GUILayout.BeginHorizontal(); + + if (texture != null) { + Rect rect = EditorGUILayout.GetControlRect(GUILayout.Width(16), GUILayout.Height(16)); + GUI.DrawTexture(rect, texture); + } else GUILayout.Space(21); + + EditorGUILayout.LabelField(new GUIContent(label, string.Empty)); + GUILayout.EndHorizontal(); + GUILayout.Space(3); + } + + private static string GetEndEffectorName(FullBodyBipedChain chain) { + switch(chain) { + case FullBodyBipedChain.LeftArm: return "Left Hand Effector"; + case FullBodyBipedChain.RightArm: return "Right Hand Effector"; + case FullBodyBipedChain.LeftLeg: return "Left Foot Effector"; + case FullBodyBipedChain.RightLeg: return "Right Foot Effector"; + default: return string.Empty; + } + } + + private static string GetStartEffectorName(FullBodyBipedChain chain) { + switch(chain) { + case FullBodyBipedChain.LeftArm: return "Left Shoulder Effector"; + case FullBodyBipedChain.RightArm: return "Right Shoulder Effector"; + case FullBodyBipedChain.LeftLeg: return "Left Thigh Effector"; + case FullBodyBipedChain.RightLeg: return "Right Thigh Effector"; + default: return string.Empty; + } + } + + private static string GetEndBoneMappingName(FullBodyBipedChain chain) { + switch(chain) { + case FullBodyBipedChain.LeftArm: return "Maintain Hand Rot"; + case FullBodyBipedChain.RightArm: return "Maintain Hand Rot"; + case FullBodyBipedChain.LeftLeg: return "Maintain Foot Rot"; + case FullBodyBipedChain.RightLeg: return "Maintain Foot Rot"; + default: return string.Empty; + } + } + + private static int GetEndEffectorIndex(FullBodyBipedChain chainType) { + switch(chainType) { + case FullBodyBipedChain.LeftArm: return 5; + case FullBodyBipedChain.RightArm: return 6; + case FullBodyBipedChain.LeftLeg: return 7; + case FullBodyBipedChain.RightLeg: return 8; + } + return 0; + } + + private static int GetStartEffectorIndex(FullBodyBipedChain chainType) { + switch(chainType) { + case FullBodyBipedChain.LeftArm: return 1; + case FullBodyBipedChain.RightArm: return 2; + case FullBodyBipedChain.LeftLeg: return 3; + case FullBodyBipedChain.RightLeg: return 4; + } + return 0; + } + + private static int GetLimbMappingIndex(FullBodyBipedChain chainType) { + switch(chainType) { + case FullBodyBipedChain.LeftArm: return 0; + case FullBodyBipedChain.RightArm: return 1; + case FullBodyBipedChain.LeftLeg: return 2; + case FullBodyBipedChain.RightLeg: return 3; + } + return 0; + } + + private static Texture2D endEffectorIcon { + get { + if (_endEffectorIcon == null) _endEffectorIcon = (Texture2D)AssetDatabase.LoadAssetAtPath("Assets/RootMotion/FinalIK/Gizmos/EndEffector Icon.png", typeof(Texture2D)); + return _endEffectorIcon; + } + } + private static Texture2D _endEffectorIcon; + + private static Texture2D startEffectorIcon { + get { + if (_startEffectorIcon == null) _startEffectorIcon = (Texture2D)AssetDatabase.LoadAssetAtPath("Assets/RootMotion/FinalIK/Gizmos/MidEffector Icon.png", typeof(Texture2D)); + return _startEffectorIcon; + } + } + private static Texture2D _startEffectorIcon; + + private static Texture2D chainIcon { + get { + if (_chainIcon == null) _chainIcon = (Texture2D)AssetDatabase.LoadAssetAtPath("Assets/RootMotion/FinalIK/Gizmos/Chain Icon.png", typeof(Texture2D)); + return _chainIcon; + } + } + private static Texture2D _chainIcon; + + private static Texture2D mappingIcon { + get { + if (_mappingIcon == null) _mappingIcon = (Texture2D)AssetDatabase.LoadAssetAtPath("Assets/RootMotion/FinalIK/Gizmos/Mapping Icon.png", typeof(Texture2D)); + return _mappingIcon; + } + } + private static Texture2D _mappingIcon; + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs.meta new file mode 100644 index 00000000..801e03ff --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyBipedInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 533c5d8f60bd14648a10c7c1ad3f9ee5 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs new file mode 100644 index 00000000..ed94413a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs @@ -0,0 +1,80 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverFullBody + * */ + public class IKSolverFullBodyInspector : IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverFullBody + * */ + public static void AddInspector(SerializedProperty prop, bool editWeights) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Weight", "Solver weight for smooth blending (ik.solver.IKPositionWeight).")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("iterations"), new GUIContent("Iterations", "Solver iterations per frame.")); + } + + /* + * Draws the scene view helpers for IKSolverFullBody + * */ + public static void AddScene(UnityEngine.Object target, IKSolverFullBody solver, Color color, bool modifiable, ref int selectedEffector, float size) { + if (!modifiable) return; + if (!solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + // Effectors + for (int i = 0; i < solver.effectors.Length; i++) { + bool rotate = solver.effectors[i].isEndEffector; + float weight = rotate? Mathf.Max(solver.effectors[i].positionWeight, solver.effectors[i].rotationWeight): solver.effectors[i].positionWeight; + + if (weight > 0 && selectedEffector != i) { + Handles.color = color; + + if (rotate) { + if (Inspector.DotButton(solver.effectors[i].position, solver.effectors[i].rotation, size * 0.5f, size * 0.5f)) { + selectedEffector = i; + return; + } + } else { + if (Inspector.SphereButton(solver.effectors[i].position, solver.effectors[i].rotation, size, size)) { + selectedEffector = i; + return; + } + } + } + } + + for (int i = 0; i < solver.effectors.Length; i++) IKEffectorInspector.AddScene(solver.effectors[i], color, modifiable && i == selectedEffector, size); + + if (GUI.changed) EditorUtility.SetDirty(target); + } + + #endregion Public methods + + public static void AddChain(FBIKChain[] chain, int index, Color color, float size) { + Handles.color = color; + + for (int i = 0; i < chain[index].nodes.Length - 1; i++) { + Handles.DrawLine(GetNodePosition(chain[index].nodes[i]), GetNodePosition(chain[index].nodes[i + 1])); + Inspector.SphereCap(0, GetNodePosition(chain[index].nodes[i]), Quaternion.identity, size); + } + + Inspector.SphereCap(0, GetNodePosition(chain[index].nodes[chain[index].nodes.Length - 1]), Quaternion.identity, size); + + for (int i = 0; i < chain[index].children.Length; i++) { + Handles.DrawLine(GetNodePosition(chain[index].nodes[chain[index].nodes.Length - 1]), GetNodePosition(chain[chain[index].children[i]].nodes[0])); + } + } + + private static Vector3 GetNodePosition(IKSolver.Node node) { + if (Application.isPlaying) return node.solverPosition; + return node.transform.position; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs.meta new file mode 100644 index 00000000..ead3ecde --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverFullBodyInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9a32242b195b44820b383881d973c731 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs new file mode 100644 index 00000000..9398f93b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs @@ -0,0 +1,104 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IK solvers extending IKSolverHeuristic + * */ + public class IKSolverHeuristicInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverHeuristic + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool editWeights) { + AddTarget(prop); + AddIKPositionWeight(prop); + AddProps(prop); + AddBones(prop, editHierarchy, editWeights); + } + + public static void AddTarget(SerializedProperty prop) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("target"), new GUIContent("Target", "The target Transform. Solver IKPosition will be automatically set to the position of the target.")); + } + + public static void AddIKPositionWeight(SerializedProperty prop) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Weight", "Solver weight for smooth blending.")); + } + + public static void AddProps(SerializedProperty prop) { + AddClampedFloat(prop.FindPropertyRelative("tolerance"), new GUIContent("Tolerance", "Minimum offset from last reached position. Will stop solving if offset is less than tolerance. If tolerance is zero, will iterate until maxIterations.")); + AddClampedInt(prop.FindPropertyRelative("maxIterations"), new GUIContent("Max Iterations", "Max solver iterations per frame."), 0, int.MaxValue); + } + + public static void AddBones(SerializedProperty prop, bool editHierarchy, bool editWeights) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("useRotationLimits"), new GUIContent("Use Rotation Limits", "If true, rotation limits (if existing) will be applied on each iteration.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("XY"), new GUIContent("2D", "If true, will solve only in the XY plane.")); + + EditorGUILayout.Space(); + weights = editWeights; + if (editHierarchy || editWeights) { + AddArray(prop.FindPropertyRelative("bones"), new GUIContent("Bones", string.Empty), editHierarchy, false, null, OnAddToArrayBone, DrawArrayElementLabelBone); + } + EditorGUILayout.Space(); + } + + /* + * Draws the scene view helpers for IKSolverHeuristic + * */ + public static void AddScene(IKSolverHeuristic solver, Color color, bool modifiable) { + // Protect from null reference errors + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + Handles.color = color; + GUI.color = color; + + // Display the bones + for (int i = 0; i < solver.bones.Length; i++) { + IKSolver.Bone bone = solver.bones[i]; + + if (i < solver.bones.Length - 1) Handles.DrawLine(bone.transform.position, solver.bones[i + 1].transform.position); + Inspector.SphereCap(0, solver.bones[i].transform.position, Quaternion.identity, GetHandleSize(solver.bones[i].transform.position)); + } + + // Selecting joint and manipulating IKPosition + if (Application.isPlaying && solver.IKPositionWeight > 0) { + if (modifiable) { + Inspector.CubeCap(0, solver.IKPosition, solver.GetRoot().rotation, GetHandleSize(solver.IKPosition)); + + // Manipulating position + if (solver.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + } + + // Draw a transparent line from last bone to IKPosition + Handles.color = new Color(color.r, color.g, color.b, color.a * solver.IKPositionWeight); + Handles.DrawLine(solver.bones[solver.bones.Length - 1].transform.position, solver.IKPosition); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + + private static bool weights; + + private static void DrawArrayElementLabelBone(SerializedProperty bone, bool editHierarchy) { + AddObjectReference(bone.FindPropertyRelative("transform"), GUIContent.none, editHierarchy, 0, weights? 100: 200); + if (weights) AddWeightSlider(bone.FindPropertyRelative("weight")); + } + + private static void OnAddToArrayBone(SerializedProperty bone) { + bone.FindPropertyRelative("weight").floatValue = 1f; + } + + private static void AddWeightSlider(SerializedProperty prop) { + GUILayout.Label("Weight", GUILayout.Width(45)); + EditorGUILayout.PropertyField(prop, GUIContent.none); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs.meta new file mode 100644 index 00000000..8244b86b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverHeuristicInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d5806071df7484ff0bfa7330e9adb04e +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs new file mode 100644 index 00000000..5cc4eb49 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs @@ -0,0 +1,19 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /* + * Contains helper methods for managing IKSolver's fields. + * */ + public class IKSolverInspector: Inspector { + + public static float GetHandleSize(Vector3 position) { + float s = HandleUtility.GetHandleSize(position) * 0.1f; + return Mathf.Lerp(s, 0.025f, 0.2f); + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs.meta new file mode 100644 index 00000000..8504caff --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f8fadad0d2804439bad44738bf137eb3 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs new file mode 100644 index 00000000..0812c9a8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs @@ -0,0 +1,102 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverLeg + * */ + public class IKSolverLegInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverTrigonometric + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool showReferences) { + EditorGUI.indentLevel = 0; + + // Bone references + if (showReferences) { + EditorGUILayout.Space(); + AddObjectReference(prop.FindPropertyRelative("pelvis.transform"), new GUIContent("Pelvis", "The pelvis (hips)."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("thigh.transform"), new GUIContent("Thigh", "The upper leg."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("calf.transform"), new GUIContent("Calf", "The lower leg."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("foot.transform"), new GUIContent("Foot", "The ankle."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("toe.transform"), new GUIContent("Toe", "The first toe bone."), editHierarchy, 100); + + EditorGUILayout.Space(); + } + + // Foot/Toe + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.target"), new GUIContent("Target", "The target Transform. Solver IKPosition will be automatically set to the position of the target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Position Weight", "Solver weight for smooth blending.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKRotationWeight"), new GUIContent("Rotation Weight", "Weight of last bone's rotation to IKRotation.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("heelOffset"), new GUIContent("Heel Offset", "Offset of the heel in world space.")); + + // Bending + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.bendGoal"), new GUIContent("Bend Goal", "If assigned, the knee will be bent in the direction towards this transform.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.bendGoalWeight"), new GUIContent("Bend Goal Weight", "Weight of the bend goal.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.swivelOffset"), new GUIContent("Swivel Offset", "Angular offset of the leg's bending direction.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.bendToTargetWeight"), new GUIContent("Bend To Target Weight", "If 0, the bend plane will be locked to the rotation of the pelvis and rotating the foot will have no effect on the knee direction. If 1, to the target rotation of the leg so that the knee will bend towards the forward axis of the foot. Values in between will be slerped between the two.")); + + // Stretching + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.legLengthMlp"), new GUIContent("Leg Length Mlp", "Use this to make the leg shorter/longer.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("leg.stretchCurve"), new GUIContent("Stretch Curve", "Evaluates stretching of the leg by target distance relative to leg length. Value at time 1 represents stretching amount at the point where distance to the target is equal to leg length. Value at time 1 represents stretching amount at the point where distance to the target is double the leg length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce knee snapping (start stretching the arm slightly before target distance reaches leg length).")); + } + + /* + * Draws the scene view helpers for IKSolverTrigonometric + * */ + public static void AddScene(IKSolverLeg solver, Color color, bool modifiable) { + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + //float length = Vector3.Distance(solver.bone1.transform.position, solver.bone2.transform.position) + Vector3.Distance(solver.bone2.transform.position, solver.bone3.transform.position); + //float size = length * 0.05f; + + Handles.color = color; + GUI.color = color; + + // Chain lines + Handles.DrawLine(solver.pelvis.transform.position, solver.thigh.transform.position); + Handles.DrawLine(solver.thigh.transform.position, solver.calf.transform.position); + Handles.DrawLine(solver.calf.transform.position, solver.foot.transform.position); + Handles.DrawLine(solver.foot.transform.position, solver.toe.transform.position); + + // Joints + Inspector.SphereCap(0, solver.pelvis.transform.position, Quaternion.identity, GetHandleSize(solver.pelvis.transform.position)); + Inspector.SphereCap(0, solver.thigh.transform.position, Quaternion.identity, GetHandleSize(solver.thigh.transform.position)); + Inspector.SphereCap(0, solver.calf.transform.position, Quaternion.identity, GetHandleSize(solver.calf.transform.position)); + Inspector.SphereCap(0, solver.foot.transform.position, Quaternion.identity, GetHandleSize(solver.foot.transform.position)); + Inspector.SphereCap(0, solver.toe.transform.position, Quaternion.identity, GetHandleSize(solver.toe.transform.position)); + + if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0)) { + if (modifiable) { + Inspector.CubeCap(0, solver.IKPosition, solver.IKRotation, GetHandleSize(solver.IKPosition)); + + // Manipulating position and rotation + switch(Tools.current) { + case Tool.Move: + if (solver.leg.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + break; + case Tool.Rotate: + if (solver.leg.target == null) solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition); + break; + } + } + + // Target + Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight)); + Handles.DrawLine(solver.toe.transform.position, solver.IKPosition); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs.meta new file mode 100644 index 00000000..9edaa38d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLegInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b8601eb42d45b294dba88abac3e27d24 +timeCreated: 1487059931 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs new file mode 100644 index 00000000..81fe0a1c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs @@ -0,0 +1,63 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverLimb + * */ + public class IKSolverLimbInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverLimb + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool showReferences) { + // Draw the trigonometric IK inspector + IKSolverTrigonometricInspector.AddInspector(prop, editHierarchy, showReferences); + + EditorGUILayout.Space(); + + if (showReferences && editHierarchy) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("goal"), new GUIContent("Avatar IK Goal", "Avatar IK Goal here is only used by the 'Arm' bend modifier.")); + } + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("maintainRotationWeight"), new GUIContent("Maintain Rotation", "Weight of rotating the last bone back to the rotation it had before solving IK.")); + + // Bend normal modifier. + EditorGUILayout.PropertyField(prop.FindPropertyRelative("bendModifier"), new GUIContent("Bend Modifier", "Bend normal modifier.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("bendModifierWeight"), new GUIContent("Bend Modifier Weight", "Weight of the bend modifier.")); + + if (prop.FindPropertyRelative("bendModifier").enumValueIndex == 4) EditorGUILayout.PropertyField(prop.FindPropertyRelative("bendGoal"), new GUIContent("Bend Goal", "The bend goal Transform (optional, you can also use IKSolverTrigonometric.SetBendGoalPosition(Vector position, float weight).")); + + EditorGUILayout.Space(); + } + + /* + * Draws the scene view helpers for IKSolverLimb + * */ + public static void AddScene(IKSolverLimb solver, Color color, bool modifiable) { + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + if (solver.bendGoal != null && solver.bendModifierWeight > 0f) { + Color c = color; + c.a = solver.bendModifierWeight; + Handles.color = c; + + Handles.DrawLine(solver.bone2.transform.position, solver.bendGoal.position); + Inspector.SphereCap(0, solver.bendGoal.position, Quaternion.identity, GetHandleSize(solver.bendGoal.position) * 0.5f); + + Handles.color = Color.white; + } + + IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable); + } + + #endregion Public methods + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs.meta new file mode 100644 index 00000000..ff2e81ae --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLimbInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 57956e150e00f474b9c03c7155dc43e3 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs new file mode 100644 index 00000000..35ce8253 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs @@ -0,0 +1,122 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; +using System; + + namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverLookAt + * */ + public class IKSolverLookAtInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverLookAt + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool showReferences) { + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("target"), new GUIContent("Target", "The target Transform. Solver IKPosition will be automatically set to the position of the target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Weight", "Solver weight for smooth blending.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("bodyWeight"), new GUIContent("Body Weight", "Weight of rotating spine to target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("headWeight"), new GUIContent("Head Weight", "Weight of rotating head to target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("eyesWeight"), new GUIContent("Eyes Weight", "Weight of rotating eyes to target.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampWeight"), new GUIContent("Clamp Weight", "Clamping rotation of spine and head. 0 is free rotation, 1 is completely clamped to forward.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampWeightHead"), new GUIContent("Clamp Weight Head", "Clamping rotation of the head. 0 is free rotation, 1 is completely clamped to forward.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampWeightEyes"), new GUIContent("Clamp Weight Eyes", "Clamping rotation of the eyes. 0 is free rotation, 1 is completely clamped to forward.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("clampSmoothing"), new GUIContent("Clamp Smoothing", "Number of sine smoothing iterations applied on clamping to make the clamping point smoother.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("spineWeightCurve"), new GUIContent("Spine Weight Curve", "Weight distribution between spine bones (first bone is evaluated at time 0.0, last bone at 1.0).")); + + // References + if (showReferences) { + EditorGUILayout.Space(); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("head.transform"), new GUIContent("Head", "The head bone.")); + + EditorGUILayout.Space(); + AddArray(prop.FindPropertyRelative("spine"), new GUIContent("Spine", string.Empty), editHierarchy, false, null, null, DrawArrayElementLabelBone); + + EditorGUILayout.Space(); + AddArray(prop.FindPropertyRelative("eyes"), new GUIContent("Eyes", string.Empty), editHierarchy, false, null, null, DrawArrayElementLabelBone); + } + + EditorGUILayout.Space(); + } + + /* + * Draws the scene view helpers for IKSolverLookAt + * */ + public static void AddScene(IKSolverLookAt solver, Color color, bool modifiable) { + // Protect from null reference errors + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + // Display the Spine + if (solver.spine.Length > 0) { + Handles.color = color; + GUI.color = color; + + for (int i = 0; i < solver.spine.Length; i++) { + IKSolverLookAt.LookAtBone bone = solver.spine[i]; + + if (i < solver.spine.Length - 1) Handles.DrawLine(bone.transform.position, solver.spine[i + 1].transform.position); + Inspector.SphereCap(0, bone.transform.position, Quaternion.identity, GetHandleSize(bone.transform.position)); + } + + // Draw a transparent line from last bone to IKPosition + if (Application.isPlaying) { + Handles.color = new Color(color.r, color.g, color.b, color.a * solver.IKPositionWeight * solver.bodyWeight); + Handles.DrawLine(solver.spine[solver.spine.Length - 1].transform.position, solver.IKPosition); + } + } + + // Display the eyes + if (solver.eyes.Length > 0) { + for (int i = 0; i < solver.eyes.Length; i++) { + DrawLookAtBoneInScene(solver.eyes[i], solver.IKPosition, color, solver.IKPositionWeight * solver.eyesWeight); + } + } + + // Display the head + if (solver.head.transform != null) { + DrawLookAtBoneInScene(solver.head, solver.IKPosition, color, solver.IKPositionWeight * solver.headWeight); + } + + Handles.color = color; + GUI.color = color; + + // Selecting joint and manipulating IKPosition + if (Application.isPlaying && solver.IKPositionWeight > 0) { + if (modifiable) { + Inspector.SphereCap(0, solver.IKPosition, Quaternion.identity, GetHandleSize(solver.IKPosition)); + + // Manipulating position + if (solver.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + } + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + + private static void DrawArrayElementLabelBone(SerializedProperty bone, bool editHierarchy) { + AddObjectReference(bone.FindPropertyRelative("transform"), GUIContent.none, editHierarchy, 0, 300); + } + + private static void DrawLookAtBoneInScene(IKSolverLookAt.LookAtBone bone, Vector3 IKPosition, Color color, float lineWeight) { + Handles.color = color; + GUI.color = color; + + Inspector.SphereCap(0, bone.transform.position, Quaternion.identity, GetHandleSize(bone.transform.position)); + + // Draw a transparent line from last bone to IKPosition + if (Application.isPlaying && lineWeight > 0) { + Handles.color = new Color(color.r, color.g, color.b, color.a * lineWeight); + Handles.DrawLine(bone.transform.position, IKPosition); + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs.meta new file mode 100644 index 00000000..207d0baf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverLookAtInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5cf17f5d7f4954636ad6575fd9f9832c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs new file mode 100644 index 00000000..c9b0aca2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs @@ -0,0 +1,97 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view tools for IKSolverTrigonometric + * */ + public class IKSolverTrigonometricInspector: IKSolverInspector { + + #region Public methods + + /* + * Draws the custom inspector for IKSolverTrigonometric + * */ + public static void AddInspector(SerializedProperty prop, bool editHierarchy, bool showReferences) { + EditorGUI.indentLevel = 0; + + // Bone references + if (showReferences) { + EditorGUILayout.Space(); + AddObjectReference(prop.FindPropertyRelative("bone1.transform"), new GUIContent("Bone 1", "The first bone in the hierarchy (thigh or upper arm)."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("bone2.transform"), new GUIContent("Bone 2", "The second bone in the hierarchy (calf or forearm)."), editHierarchy, 100); + AddObjectReference(prop.FindPropertyRelative("bone3.transform"), new GUIContent("Bone 3", "The last bone in the hierarchy (foot or hand)."), editHierarchy, 100); + + EditorGUILayout.Space(); + } + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("target"), new GUIContent("Target", "The target Transform. Solver IKPosition will be automatically set to the position of the target.")); + + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKPositionWeight"), new GUIContent("Position Weight", "Solver weight for smooth blending.")); + EditorGUILayout.PropertyField(prop.FindPropertyRelative("IKRotationWeight"), new GUIContent("Rotation Weight", "Weight of last bone's rotation to IKRotation.")); + + if (showReferences) { + EditorGUILayout.PropertyField(prop.FindPropertyRelative("bendNormal"), new GUIContent("Bend Normal", "Bend plane normal.")); + } + } + + public static void AddTestInspector(SerializedObject obj) { + SerializedProperty solver = obj.FindProperty("solver"); + EditorGUILayout.PropertyField(solver.FindPropertyRelative("bendNormal")); + } + + /* + * Draws the scene view helpers for IKSolverTrigonometric + * */ + public static void AddScene(IKSolverTrigonometric solver, Color color, bool modifiable) { + if (Application.isPlaying && !solver.initiated) return; + if (!Application.isPlaying && !solver.IsValid()) return; + + //float length = Vector3.Distance(solver.bone1.transform.position, solver.bone2.transform.position) + Vector3.Distance(solver.bone2.transform.position, solver.bone3.transform.position); + //float size = length * 0.05f; + + Handles.color = color; + GUI.color = color; + + Vector3 bendPosition = solver.bone2.transform.position; + Vector3 endPosition = solver.bone3.transform.position; + + // Chain lines + Handles.DrawLine(solver.bone1.transform.position, bendPosition); + Handles.DrawLine(bendPosition, endPosition); + + // Joints + Inspector.SphereCap(0, solver.bone1.transform.position, Quaternion.identity, GetHandleSize(solver.bone1.transform.position)); + Inspector.SphereCap(0, bendPosition, Quaternion.identity, GetHandleSize(bendPosition)); + Inspector.SphereCap(0, endPosition, Quaternion.identity, GetHandleSize(endPosition)); + + if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0)) { + if (modifiable) { + Inspector.CubeCap(0, solver.IKPosition, solver.IKRotation, GetHandleSize(solver.IKPosition)); + + // Manipulating position and rotation + switch(Tools.current) { + case Tool.Move: + if (solver.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity); + break; + case Tool.Rotate: + if (solver.target == null) solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition); + break; + } + } + + // Target + Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight)); + Handles.DrawLine(endPosition, solver.IKPosition); + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + #endregion Public methods + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs.meta new file mode 100644 index 00000000..0b872443 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/IKSolverTrigonometricInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 3474539eeb23c491fbd6a10e0951ce9d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs new file mode 100644 index 00000000..2a8ad36b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs @@ -0,0 +1,108 @@ +using UnityEngine; +using UnityEditor; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector and scene view helpers for the InteractionTarget. + * */ + [CustomEditor(typeof(InteractionTarget))] + public class InteractionTargetInspector : Editor { + + private InteractionTarget script { get { return target as InteractionTarget; }} + + private const string twistAxisLabel = " Twist Axis"; + private const float size = 0.005f; + private static Color targetColor = new Color(0.2f, 1f, 0.5f); + private static Color pivotColor = new Color(0.2f, 0.5f, 1f); + + void OnSceneGUI() { + Handles.color = targetColor; + + Inspector.SphereCap(0, script.transform.position, Quaternion.identity, size); + + DrawChildrenRecursive(script.transform); + + if (script.pivot != null) { + Handles.color = pivotColor; + GUI.color = pivotColor; + + Inspector.SphereCap(0, script.pivot.position, Quaternion.identity, size); + + if (script.rotationMode == InteractionTarget.RotationMode.TwoDOF) + { + Vector3 twistAxisWorld = script.pivot.rotation * script.twistAxis.normalized * size * 40; + Handles.DrawLine(script.pivot.position, script.pivot.position + twistAxisWorld); + Inspector.SphereCap(0, script.pivot.position + twistAxisWorld, Quaternion.identity, size); + + Inspector.CircleCap(0, script.pivot.position, Quaternion.LookRotation(twistAxisWorld), size * 20); + Handles.Label(script.pivot.position + twistAxisWorld, twistAxisLabel); + } + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + public override void OnInspectorGUI() + { + serializedObject.Update(); + + EditorGUILayout.PropertyField(serializedObject.FindProperty("effectorType")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("multipliers"), true); + EditorGUILayout.PropertyField(serializedObject.FindProperty("interactionSpeedMlp")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("pivot")); + + EditorGUILayout.Space(); + EditorGUILayout.PropertyField(serializedObject.FindProperty("rotationMode")); + + int rotationMode = serializedObject.FindProperty("rotationMode").enumValueIndex; + if (rotationMode == 0) + { + EditorGUILayout.PropertyField(serializedObject.FindProperty("twistAxis")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("twistWeight")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("swingWeight")); + } else if (rotationMode == 1) + { + EditorGUILayout.PropertyField(serializedObject.FindProperty("threeDOFWeight")); + } + EditorGUILayout.PropertyField(serializedObject.FindProperty("rotateOnce")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("usePoser")); + + if (serializedObject.FindProperty("usePoser").boolValue) + { + var bones = serializedObject.FindProperty("bones"); + EditorGUILayout.PropertyField(bones); + + if (GUILayout.Button("Auto-Assign Bones")) + { + var children = script.GetComponentsInChildren(); + if (children.Length > 1) + { + bones.ClearArray(); + for (int i = 1; i < children.Length; i++) + { + bones.InsertArrayElementAtIndex(i - 1); + bones.GetArrayElementAtIndex(i - 1).objectReferenceValue = children[i]; + } + } + } + } + + if (serializedObject.ApplyModifiedProperties()) + { + EditorUtility.SetDirty(script); + } + } + + private void DrawChildrenRecursive(Transform t) { + for (int i = 0; i < t.childCount; i++) { + + Handles.DrawLine(t.position, t.GetChild(i).position); + Inspector.SphereCap(0, t.GetChild(i).position, Quaternion.identity, size); + + DrawChildrenRecursive(t.GetChild(i)); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs.meta new file mode 100644 index 00000000..11657ec5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTargetInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 244e0878f45b6442cac28a34942f9ac3 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs new file mode 100644 index 00000000..6d959624 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs @@ -0,0 +1,206 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion.FinalIK { + + // Custom scene view helpers for the InteractionTrigger + [CustomEditor(typeof(InteractionTrigger))] + public class InteractionTriggerInspector : Editor { + + private InteractionTrigger script { get { return target as InteractionTrigger; }} + + void OnSceneGUI() { + if (!script.enabled) return; + + var collider = script.GetComponent(); + if (collider != null) + collider.isTrigger = true; + else { + Warning.Log ("InteractionTrigger requires a Collider component.", script.transform, true); + return; + } + + if (script.ranges.Length == 0) return; + + for (int i = 0; i < script.ranges.Length; i++) { + DrawRange (script.ranges[i], i); + } + + Handles.BeginGUI(); + int h = script.ranges.Length * 18; + GUILayout.BeginArea(new Rect(10, 10, 200, h + 25), "InteractionTrigger Visualization", "Window"); + + // Rotating display + for (int i = 0; i < script.ranges.Length; i++) { + script.ranges[i].show = GUILayout.Toggle(script.ranges[i].show, new GUIContent(" Show Range " + i.ToString() + ": " + script.ranges[i].name, string.Empty)); + } + + GUILayout.EndArea(); + Handles.EndGUI(); + } + + private void DrawRange(InteractionTrigger.Range range, int index) { + range.name = string.Empty; + for (int i = 0; i < range.interactions.Length; i++) { + if (range.name.Length > 50) { + range.name += "..."; + break; + } + + if (i > 0) range.name += "; "; + + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + if (e > 0) range.name += ", "; + range.name += range.interactions[i].effectors[e].ToString(); + } + + if (range.interactions[i].interactionObject != null) { + range.name += ": " + range.interactions[i].interactionObject.name; + } + + } + + if (!range.show) return; + + Color color = GetColor(index); + Handles.color = color; + GUI.color = color; + + // Character Position + DrawCharacterPosition(range, index); + + // Camera Position + DrawCameraPosition(range, index); + + Handles.color = Color.white; + GUI.color = Color.white; + } + + private void DrawCharacterPosition(InteractionTrigger.Range range, int index) { + Vector3 labelPosition = script.transform.position - Vector3.up * index * 0.05f; + + if (!range.characterPosition.use) { + Handles.Label(labelPosition, "Character Position is not used for Range " + index.ToString() + ": " + range.name); + return; + } + range.characterPosition.radius = Mathf.Max(range.characterPosition.radius, 0f); + if (range.characterPosition.radius <= 0f) { + Handles.Label(labelPosition, "Character Position radius is zero for Range " + index.ToString() + ": " + range.name); + return; + } + if (range.characterPosition.maxAngle <= 0f) { + Handles.Label(labelPosition, "Character Position max angle is zero for Range " + index.ToString() + ": " + range.name); + return; + } + + Vector3 f = script.transform.forward; + if (range.characterPosition.fixYAxis) f.y = 0f; + if (f == Vector3.zero) { + Handles.Label(script.transform.position - Vector3.up * index * 0.05f, "Invalid rotation of InteractionTrigger for Range " + index.ToString() + ": " + range.name); + return; // Singularity + } + + Quaternion triggerRotation = Quaternion.LookRotation(f, (range.characterPosition.fixYAxis? Vector3.up: script.transform.up)); + + Vector3 position = script.transform.position + triggerRotation * range.characterPosition.offset3D; + + Vector3 direction = triggerRotation * range.characterPosition.direction3D; + + Quaternion rotation = direction == Vector3.zero? triggerRotation: Quaternion.LookRotation(direction, (range.characterPosition.fixYAxis? Vector3.up: script.transform.up)); + Vector3 up = rotation * Vector3.up; + Vector3 forward = rotation * Vector3.forward; + + Handles.DrawWireDisc(position, up, range.characterPosition.radius); + + if (range.characterPosition.orbit) { + float mag = range.characterPosition.offset.magnitude; + + if (mag - range.characterPosition.radius > 0f) { + Handles.DrawWireDisc(script.transform.position, up, mag - range.characterPosition.radius); + } + + Handles.DrawWireDisc(script.transform.position, up, mag + range.characterPosition.radius); + } + + Vector3 x = forward * range.characterPosition.radius; + Quaternion q = Quaternion.AngleAxis(-range.characterPosition.maxAngle, up); + + Vector3 dir = q * x; + + if (direction != Vector3.zero && range.characterPosition.maxAngle < 180f) { + Handles.DrawLine(position, position + x); + Inspector.DotCap(0, position + x, Quaternion.identity, range.characterPosition.radius * 0.01f); + } + + Handles.Label(position - Vector3.up * index * 0.05f, "Character Position for Range " + index.ToString() + ": " + range.name); + + Color color = Handles.color; + Color transparent = new Color(color.r, color.g, color.b, 0.3f); + Handles.color = transparent; + + Handles.DrawSolidArc(position, up, dir, range.characterPosition.maxAngle * 2f, range.characterPosition.radius); + + Handles.color = color; + } + + private void DrawCameraPosition(InteractionTrigger.Range range, int index) { + if (range.cameraPosition.lookAtTarget == null) return; + + Vector3 labelPosition = range.cameraPosition.lookAtTarget.transform.position - Vector3.up * index * 0.05f; + + if (range.cameraPosition.direction == Vector3.zero) { + Handles.Label(labelPosition, "Camera Position direction is Vector3.zero for Range" + index.ToString() + ": " + range.name); + return; + } + if (range.cameraPosition.maxAngle <= 0f) { + Handles.Label(labelPosition, "Camera Position max angle is zero for Range" + index.ToString() + ": " + range.name); + return; + } + range.cameraPosition.maxDistance = Mathf.Max(range.cameraPosition.maxDistance, 0f); + if (range.cameraPosition.maxDistance <= 0f) { + Handles.Label(labelPosition, "Camera Position Max Distance is zero for Range" + index.ToString() + ": " + range.name); + return; + } + + Quaternion targetRotation = range.cameraPosition.GetRotation(); + Vector3 position = range.cameraPosition.lookAtTarget.transform.position; + + Vector3 direction = targetRotation * range.cameraPosition.direction; + direction = direction.normalized * range.cameraPosition.maxDistance; + + Handles.DrawLine(position, position + direction); + Inspector.DotCap(0, position + direction, Quaternion.identity, 0.005f); + + Handles.Label(position + direction * 1.1f, "Camera Position for Range " + index.ToString() + ": " + range.name); + + if (range.cameraPosition.maxAngle >= 180f) return; + + float r = Mathf.Sin(range.cameraPosition.maxAngle * Mathf.Deg2Rad) * range.cameraPosition.maxDistance; + float d = Mathf.Cos(range.cameraPosition.maxAngle * Mathf.Deg2Rad) * range.cameraPosition.maxDistance; + + Quaternion rotation = targetRotation * Quaternion.LookRotation(range.cameraPosition.direction); + + Inspector.CircleCap(0, position + direction.normalized * d, rotation, r); + + if (SceneView.lastActiveSceneView != null && SceneView.lastActiveSceneView.camera != null) { + //Vector3 c = Vector3.Cross(direction, SceneView.lastActiveSceneView.camera.transform.forward); + Vector3 c = Vector3.Cross(direction, (range.cameraPosition.lookAtTarget.transform.position - SceneView.lastActiveSceneView.camera.transform.position).normalized); + c = Vector3.Cross(direction, c); + Quaternion dirRotation = Quaternion.AngleAxis(range.cameraPosition.maxAngle, c); + Vector3 dir3 = dirRotation * direction; + Handles.DrawLine(position, position + dir3); + + Vector3 dir4 = Quaternion.Inverse(dirRotation) * direction; + Handles.DrawLine(position, position + dir4); + + Handles.DrawWireArc(position, -c, dir3, range.cameraPosition.maxAngle * 2, range.cameraPosition.maxDistance); + } + } + + private static Color GetColor(int index) { + float i = (float)index + 1f; + return new Color(1f / i, i * 0.1f, (i * i) + 0.1f); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs.meta new file mode 100644 index 00000000..08ea0fef --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/InteractionTriggerInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 873f095e66d4c4a1cad1da5353934f00 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs new file mode 100644 index 00000000..d3c1d163 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for LegIK. + * */ + [CustomEditor(typeof(LegIK))] + public class LegIKInspector : IKInspector { + + private LegIK script { get { return target as LegIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverTrigonometric + IKSolverLegInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverLegInspector.AddScene(script.solver, new Color(0f, 1f, 1f, 1f), true); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs.meta new file mode 100644 index 00000000..cdf9f752 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LegIKInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a1d4a2dfd093628479ab4e1611fab8cf +timeCreated: 1487059923 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs new file mode 100644 index 00000000..9985e117 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for LimbIK. + * */ + [CustomEditor(typeof(LimbIK))] + public class LimbIKInspector : IKInspector { + + private LimbIK script { get { return target as LimbIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverLimb + IKSolverLimbInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverLimbInspector.AddScene(script.solver, new Color(0f, 1f, 1f, 1f), true); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs.meta new file mode 100644 index 00000000..f8fd82b3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LimbIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f0d1da4d6345d4ebbb58a7fbdb461e88 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs new file mode 100644 index 00000000..71e2649b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs @@ -0,0 +1,39 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for LookAtIK. + * */ + [CustomEditor(typeof(LookAtIK))] + public class LookAtIKInspector : IKInspector { + + private LookAtIK script { get { return target as LookAtIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverTrigonometric + IKSolverLookAtInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverLookAtInspector.AddScene(script.solver, new Color(0f, 1f, 1f, 1f), true); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs.meta new file mode 100644 index 00000000..b832f6a3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/LookAtIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 76c03a228cc7d4cfab5b65bf55ca89a0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs new file mode 100644 index 00000000..e5f19212 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs @@ -0,0 +1,93 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /* + * Custom inspector for RotationLimitAngle. + * */ + [CustomEditor(typeof(RotationLimitAngle))] + [CanEditMultipleObjects] + public class RotationLimitAngleInspector : RotationLimitInspector + { + + private RotationLimitAngle script { get { return target as RotationLimitAngle; } } + + #region Inspector + + public override void OnInspectorGUI() + { + GUI.changed = false; + + // Draw the default inspector + DrawDefaultInspector(); + + script.limit = Mathf.Clamp(script.limit, 0, 180); + + if (GUI.changed) EditorUtility.SetDirty(script); + } + + #endregion Inspector + + #region Scene + + void OnSceneGUI() + { + // Set defaultLocalRotation so that the initial local rotation will be the zero point for the rotation limit + if (!Application.isPlaying && !script.defaultLocalRotationOverride) script.defaultLocalRotation = script.transform.localRotation; + if (script.axis == Vector3.zero) return; + + DrawRotationSphere(script.transform.position); + + // Display the main axis + DrawArrow(script.transform.position, Direction(script.axis), colorDefault, "Axis", 0.02f); + + Vector3 swing = script.axis.normalized; + + // Display limits + lastPoint = script.transform.position; + + for (int i = 0; i < 360; i += 2) + { + Quaternion offset = Quaternion.AngleAxis(i, swing); + Quaternion limitedRotation = Quaternion.AngleAxis(script.limit, offset * script.crossAxis); + + Vector3 limitedDirection = Direction(limitedRotation * swing); + + Handles.color = colorDefaultTransparent; + + Vector3 limitPoint = script.transform.position + limitedDirection; + + if (i == 0) zeroPoint = limitPoint; + + Handles.DrawLine(script.transform.position, limitPoint); + + if (i > 0) + { + Handles.color = colorDefault; + Handles.DrawLine(limitPoint, lastPoint); + if (i == 358) Handles.DrawLine(limitPoint, zeroPoint); + } + + lastPoint = limitPoint; + } + + Handles.color = Color.white; + } + + private Vector3 lastPoint, zeroPoint; + + /* + * Converting directions from local space to world space + * */ + private Vector3 Direction(Vector3 v) + { + if (script.transform.parent == null) return script.defaultLocalRotation * v; + return script.transform.parent.rotation * (script.defaultLocalRotation * v); + } + + #endregion Scene + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs.meta new file mode 100644 index 00000000..eb3ab026 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitAngleInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c1549de5f5a6641758443bebbd5eb733 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs new file mode 100644 index 00000000..72954c61 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs @@ -0,0 +1,119 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /* + * Custom inspector for RotationLimitHinge + * */ + [CustomEditor(typeof(RotationLimitHinge))] + [CanEditMultipleObjects] + public class RotationLimitHingeInspector : RotationLimitInspector + { + + private RotationLimitHinge script { get { return target as RotationLimitHinge; } } + + #region Inspector + + public override void OnInspectorGUI() + { + GUI.changed = false; + + // Draw the default inspector + DrawDefaultInspector(); + + if (GUI.changed) EditorUtility.SetDirty(script); + } + + #endregion Inspector + + #region Scene + + void OnSceneGUI() + { + // Set defaultLocalRotation so that the initial local rotation will be the zero point for the rotation limit + if (!Application.isPlaying && !script.defaultLocalRotationOverride) script.defaultLocalRotation = script.transform.localRotation; + if (script.axis == Vector3.zero) return; + + // Quick Editing Tools + Handles.BeginGUI(); + GUILayout.BeginArea(new Rect(10, 10, 200, 50), "Rotation Limit Hinge", "Window"); + + // Rotating display + if (GUILayout.Button("Rotate display 90 degrees")) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Rotate Display"); + script.zeroAxisDisplayOffset += 90; + if (script.zeroAxisDisplayOffset >= 360) script.zeroAxisDisplayOffset = 0; + } + + GUILayout.EndArea(); + Handles.EndGUI(); + + // Normalize the main axes + Vector3 axis = Direction(script.axis.normalized); + Vector3 cross = Direction(Quaternion.AngleAxis(script.zeroAxisDisplayOffset, script.axis) * script.crossAxis.normalized); + + // Axis vector + DrawArrow(script.transform.position, axis, colorDefault, "Axis", 0.02f); + + if (script.useLimits) + { + // Zero rotation vector + DrawArrow(script.transform.position, cross * 0.5f, colorDefault, " 0", 0.02f); + + // Arcs for the rotation limit + Handles.color = colorDefaultTransparent; + Handles.DrawSolidArc(script.transform.position, axis, cross, script.min, 0.5f); + Handles.DrawSolidArc(script.transform.position, axis, cross, script.max, 0.5f); + } + + Handles.color = colorDefault; + GUI.color = colorDefault; + + Inspector.CircleCap(0, script.transform.position, Quaternion.LookRotation(axis, cross), 0.5f); + + if (!script.useLimits) return; + + // Handles for adjusting rotation limits in the scene + Quaternion minRotation = Quaternion.AngleAxis(script.min, axis); + Handles.DrawLine(script.transform.position, script.transform.position + minRotation * cross); + + Quaternion maxRotation = Quaternion.AngleAxis(script.max, axis); + Handles.DrawLine(script.transform.position, script.transform.position + maxRotation * cross); + + // Undoable scene handles + float min = script.min; + min = DrawLimitHandle(min, script.transform.position + minRotation * cross, Quaternion.identity, 0.5f, "Min", -10); + if (min != script.min) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Min Limit"); + script.min = min; + } + + float max = script.max; + max = DrawLimitHandle(max, script.transform.position + maxRotation * cross, Quaternion.identity, 0.5f, "Max", 10); + if (max != script.max) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Max Limit"); + script.max = max; + } + + Handles.color = Color.white; + GUI.color = Color.white; + } + + /* + * Converting directions from local space to world space + * */ + private Vector3 Direction(Vector3 v) + { + if (script.transform.parent == null) return script.defaultLocalRotation * v; + return script.transform.parent.rotation * (script.defaultLocalRotation * v); + } + + #endregion Scene + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs.meta new file mode 100644 index 00000000..3de0783a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitHingeInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9c6dcd6b6b7a74dd6b1ef5428b42217b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs new file mode 100644 index 00000000..9ffc4964 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs @@ -0,0 +1,88 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /* + * Base class for all RotationLimitInspector containing common helper methods and drawing instructions + * */ + public class RotationLimitInspector : Editor + { + + #region Public methods + + // Universal color pallettes + public static Color colorDefault { get { return new Color(0.0f, 1.0f, 1.0f, 1.0f); } } + + public static Color colorDefaultTransparent + { + get + { + Color d = colorDefault; + return new Color(d.r, d.g, d.b, 0.2f); + } + } + + public static Color colorHandles { get { return new Color(1.0f, 0.5f, 0.25f, 1.0f); } } + public static Color colorRotationSphere { get { return new Color(1.0f, 1.0f, 1.0f, 0.1f); } } + public static Color colorInvalid { get { return new Color(1.0f, 0.3f, 0.3f, 1.0f); } } + public static Color colorValid { get { return new Color(0.2f, 1.0f, 0.2f, 1.0f); } } + + /* + * Draws the default rotation limit sphere to the scene + * */ + public static void DrawRotationSphere(Vector3 position) + { + Handles.color = colorRotationSphere; + Inspector.SphereCap(0, position, Quaternion.identity, 2.0f); + Handles.color = Color.white; + } + + /* + * Draws a custom arrow to the scene + * */ + public static void DrawArrow(Vector3 position, Vector3 direction, Color color, string label = "", float size = 0.01f) + { + Handles.color = color; + Handles.DrawLine(position, position + direction); + Inspector.SphereCap(0, position + direction, Quaternion.identity, size); + Handles.color = Color.white; + + if (label != "") + { + GUI.color = color; + Handles.Label(position + direction, label); + GUI.color = Color.white; + } + } + + /* + * Draws a handle for adjusting rotation limits in the scene + * */ + public static float DrawLimitHandle(float limit, Vector3 position, Quaternion rotation, float radius, string label, float openingValue) + { + limit = Inspector.ScaleValueHandleSphere(limit, position, rotation, radius, 1); + + string labelInfo = label + ": " + limit.ToString(); + + // If value is 0, draw a button to 'open' the value, because we cant scale 0 + if (limit == 0) + { + labelInfo = "Open " + label; + + if (Inspector.SphereButton(position, rotation, radius * 0.2f, radius * 0.07f)) + { + limit = openingValue; + } + } + + Handles.Label(position, labelInfo); + + return limit; + } + + #endregion + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs.meta new file mode 100644 index 00000000..119f3585 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 45e20680cc7804d86b30b931badba933 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs new file mode 100644 index 00000000..0991cd13 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs @@ -0,0 +1,419 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; +using System; +using System.Reflection; + +namespace RootMotion.FinalIK +{ + + /* + * Custom inspector for RotationLimitPolygonal + * */ + [CustomEditor(typeof(RotationLimitPolygonal))] + [CanEditMultipleObjects] + public class RotationLimitPolygonalInspector : RotationLimitInspector + { + + /* + * Used for quick symmetric editing in the scene + * */ + public enum Symmetry + { + Off, + X, + Y, + Z + } + + private RotationLimitPolygonal script { get { return target as RotationLimitPolygonal; } } + private RotationLimitPolygonal clone; + private int selectedPoint = -1, deletePoint = -1, addPoint = -1; + private float degrees = 90; + private Symmetry symmetry; + + #region Inspector + + public void OnEnable() + { + // If initialized, set up the default polygon + if (script.points == null || (script.points != null && script.points.Length < 3)) + { + script.ResetToDefault(); + EditorUtility.SetDirty(script); + } + } + + public override void OnInspectorGUI() + { + GUI.changed = false; + + // Clamping values + script.twistLimit = Mathf.Clamp(script.twistLimit, 0, 180); + script.smoothIterations = Mathf.Clamp(script.smoothIterations, 0, 3); + + DrawDefaultInspector(); + + if (GUI.changed) EditorUtility.SetDirty(script); + } + + #endregion Inspector + + #region Scene + + public void OnSceneGUI() + { + GUI.changed = false; + + // Set defaultLocalRotation so that the initial local rotation will be the zero point for the rotation limit + if (!Application.isPlaying && !script.defaultLocalRotationOverride) script.defaultLocalRotation = script.transform.localRotation; + if (script.axis == Vector3.zero) return; + + // Quick Editing Tools + Handles.BeginGUI(); + GUILayout.BeginArea(new Rect(10, 10, 550, 140), "Rotation Limit Polygonal", "Window"); + + // Cloning values from another RotationLimitPolygonal + EditorGUILayout.BeginHorizontal(); + if (Inspector.Button("Clone From", "Make this rotation limit identical to another", script, GUILayout.Width(220))) CloneLimit(); + clone = (RotationLimitPolygonal)EditorGUILayout.ObjectField("", clone, typeof(RotationLimitPolygonal), true); + EditorGUILayout.EndHorizontal(); + + // Symmetry + symmetry = (Symmetry)EditorGUILayout.EnumPopup("Symmetry", symmetry, GUILayout.Width(220)); + + // Flipping + EditorGUILayout.BeginHorizontal(); + if (Inspector.Button("Flip X", "Flip points along local X axis", script, GUILayout.Width(100))) FlipLimit(0); + if (Inspector.Button("Flip Y", "Flip points along local Y axis", script, GUILayout.Width(100))) FlipLimit(1); + if (Inspector.Button("Flip Z", "Flip points along local Z axis", script, GUILayout.Width(100))) FlipLimit(2); + GUILayout.Label("Flip everything along axis"); + EditorGUILayout.EndHorizontal(); + + // Rotating + EditorGUILayout.BeginHorizontal(); + if (Inspector.Button("Rotate X", "Rotate points along X axis by Degrees", script, GUILayout.Width(100))) RotatePoints(degrees, Vector3.right); + if (Inspector.Button("Rotate Y", "Rotate points along Y axis by Degrees", script, GUILayout.Width(100))) RotatePoints(degrees, Vector3.up); + if (Inspector.Button("Rotate Z", "Rotate points along Z axis by Degrees", script, GUILayout.Width(100))) RotatePoints(degrees, Vector3.forward); + + degrees = EditorGUILayout.FloatField("Degrees", degrees, GUILayout.Width(200)); + EditorGUILayout.EndHorizontal(); + + // Smooth/Optimize + EditorGUILayout.BeginHorizontal(); + if (Inspector.Button("Smooth", "Double the points", script)) Smooth(); + if (Inspector.Button("Optimize", "Delete every second point", script)) Optimize(); + EditorGUILayout.EndHorizontal(); + + GUILayout.EndArea(); + Handles.EndGUI(); + + // Rebuild reach cones + script.BuildReachCones(); + + // Draw a white transparent sphere + DrawRotationSphere(script.transform.position); + + // Draw Axis + DrawArrow(script.transform.position, Direction(script.axis), colorDefault, "Axis", 0.02f); + + // Display limit points + for (int i = 0; i < script.points.Length; i++) + { + Color color = GetColor(i); // Paint the point in green or red if it belongs to an invalid reach cone + + Handles.color = color; + GUI.color = color; + + // Line from the center to the point and the label + Handles.DrawLine(script.transform.position, script.transform.position + Direction(script.points[i].point)); + Handles.Label(script.transform.position + Direction(script.points[i].point + new Vector3(-0.02f, 0, 0)), " " + i.ToString()); + + // Selecting points + Handles.color = colorHandles; + if (Inspector.DotButton(script.transform.position + Direction(script.points[i].point), script.transform.rotation, 0.02f, 0.02f)) + { + selectedPoint = i; + } + + Handles.color = Color.white; + GUI.color = Color.white; + + // Limit point GUI + if (i == selectedPoint) + { + Handles.BeginGUI(); + + //GUILayout.BeginArea(new Rect(Screen.width - 240, Screen.height - 180, 230, 130), "Limit Point " + i.ToString(), "Window"); + GUILayout.BeginArea(new Rect(10, 160, 230, 130), "Limit Point " + i.ToString(), "Window"); + + if (Inspector.Button("Delete", "Delete this point", script)) + { + if (script.points.Length > 3) + { + // Using the deletePoint index here because we dont want to delete points from the array that we are iterating + deletePoint = i; + } + else if (!Warning.logged) script.LogWarning("Polygonal Rotation Limit should have at least 3 limit points"); + } + if (Inspector.Button("Add Point", "Add a new point next to this one", script)) + { + addPoint = i; + } + + // Store point for undo + Vector3 oldPoint = script.points[i].point; + + // Manual input for the point position + Inspector.AddVector3(ref script.points[i].point, "Point", script, GUILayout.Width(210)); + + EditorGUILayout.Space(); + + // Tangent weight + Inspector.AddFloat(ref script.points[i].tangentWeight, "Tangent Weight", "Weight of this point's tangent. Used in smoothing.", script, -Mathf.Infinity, Mathf.Infinity, GUILayout.Width(150)); + + GUILayout.EndArea(); + + Handles.EndGUI(); + + // Moving Points + Vector3 pointWorld = Handles.PositionHandle(script.transform.position + Direction(script.points[i].point), Quaternion.identity); + Vector3 newPoint = InverseDirection(pointWorld - script.transform.position); + if (newPoint != script.points[i].point) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Move Limit Point"); + script.points[i].point = newPoint; + } + + // Symmetry + if (symmetry != Symmetry.Off && script.points.Length > 3 && oldPoint != script.points[i].point) + { + RotationLimitPolygonal.LimitPoint symmetryPoint = GetClosestPoint(Symmetrize(oldPoint, symmetry)); + if (symmetryPoint != script.points[i]) + { + symmetryPoint.point = Symmetrize(script.points[i].point, symmetry); + } + } + } + + // Normalize the point + script.points[i].point = script.points[i].point.normalized; + } + + // Display smoothed polygon + for (int i = 0; i < script.P.Length; i++) + { + Color color = GetColor(i); + + // Smoothed triangles are transparent + Handles.color = new Color(color.r, color.g, color.b, 0.25f); + Handles.DrawLine(script.transform.position, script.transform.position + Direction(script.P[i])); + + Handles.color = color; + + if (i < script.P.Length - 1) Handles.DrawLine(script.transform.position + Direction(script.P[i]), script.transform.position + Direction(script.P[i + 1])); + else Handles.DrawLine(script.transform.position + Direction(script.P[i]), script.transform.position + Direction(script.P[0])); + + Handles.color = Color.white; + } + + // Deleting points + if (deletePoint != -1) + { + DeletePoint(deletePoint); + selectedPoint = -1; + deletePoint = -1; + } + + // Adding points + if (addPoint != -1) + { + AddPoint(addPoint); + addPoint = -1; + } + + if (GUI.changed) EditorUtility.SetDirty(script); + } + + private Color GetColor(int i) + { + // Paint the polygon in red if the reach cone is invalid + return script.reachCones[i].isValid ? colorDefault : colorInvalid; + } + + /* + * Doubles the number of Limit Points + * */ + private void Smooth() + { + int length = script.points.Length; + for (int i = 0; i < length; i++) + { + AddPoint(i + i); + } + } + + /* + * Reduces the number of Limit Points + * */ + private void Optimize() + { + for (int i = 1; i < script.points.Length; i++) + { + if (script.points.Length > 3) DeletePoint(i); + } + } + + /* + * Flips the rotation limit along the axis + * */ + private void FlipLimit(int axis) + { + script.axis[axis] = -script.axis[axis]; + + foreach (RotationLimitPolygonal.LimitPoint limitPoint in script.points) limitPoint.point[axis] = -limitPoint.point[axis]; + Array.Reverse(script.points); + script.BuildReachCones(); + } + + private void RotatePoints(float degrees, Vector3 axis) + { + foreach (RotationLimitPolygonal.LimitPoint limitPoint in script.points) limitPoint.point = Quaternion.AngleAxis(degrees, axis) * limitPoint.point; + script.BuildReachCones(); + } + + /* + * Converting directions from local space to world space + * */ + private Vector3 Direction(Vector3 v) + { + if (script.transform.parent == null) return script.defaultLocalRotation * v; + return script.transform.parent.rotation * (script.defaultLocalRotation * v); + } + + /* + * Inverse of Direction(Vector3 v) + * */ + private Vector3 InverseDirection(Vector3 v) + { + if (script.transform.parent == null) return Quaternion.Inverse(script.defaultLocalRotation) * v; + return Quaternion.Inverse(script.defaultLocalRotation) * Quaternion.Inverse(script.transform.parent.rotation) * v; + } + + /* + * Removing Limit Points + * */ + private void DeletePoint(int p) + { + RotationLimitPolygonal.LimitPoint[] newPoints = new RotationLimitPolygonal.LimitPoint[0]; + + for (int i = 0; i < script.points.Length; i++) + { + if (i != p) + { + Array.Resize(ref newPoints, newPoints.Length + 1); + newPoints[newPoints.Length - 1] = script.points[i]; + } + } + + script.points = newPoints; + script.BuildReachCones(); + } + + /* + * Creating new Limit Points + * */ + private void AddPoint(int p) + { + RotationLimitPolygonal.LimitPoint[] newPoints = new RotationLimitPolygonal.LimitPoint[script.points.Length + 1]; + + for (int i = 0; i < p + 1; i++) newPoints[i] = script.points[i]; + + newPoints[p + 1] = new RotationLimitPolygonal.LimitPoint(); + + Vector3 nextPoint = Vector3.forward; + if (p < script.points.Length - 1) nextPoint = script.points[p + 1].point; + else nextPoint = script.points[0].point; + + newPoints[p + 1].point = Vector3.Lerp(script.points[p].point, nextPoint, 0.5f); + + for (int i = p + 2; i < newPoints.Length; i++) newPoints[i] = script.points[i - 1]; + + script.points = newPoints; + script.BuildReachCones(); + } + + /* + * Clone properties from another RotationLimitPolygonal + * */ + private void CloneLimit() + { + if (clone == null) return; + if (clone == script) + { + script.LogWarning("Can't clone from self."); + return; + } + + script.axis = clone.axis; + script.twistLimit = clone.twistLimit; + script.smoothIterations = clone.smoothIterations; + script.points = new RotationLimitPolygonal.LimitPoint[clone.points.Length]; + for (int i = 0; i < script.points.Length; i++) + { + script.points[i] = (RotationLimitPolygonal.LimitPoint)CloneObject(clone.points[i]); + } + script.BuildReachCones(); + } + + private static object CloneObject(object o) + { + Type t = o.GetType(); + object clone = Activator.CreateInstance(t); + foreach (FieldInfo fi in t.GetFields()) + { + fi.SetValue(clone, fi.GetValue(o)); + } + return clone; + } + + /* + * Flipping vectors for symmetry + * */ + private static Vector3 Symmetrize(Vector3 v, Symmetry symmetry) + { + switch (symmetry) + { + case Symmetry.X: return new Vector3(-v.x, v.y, v.z); + case Symmetry.Y: return new Vector3(v.x, -v.y, v.z); + case Symmetry.Z: return new Vector3(v.x, v.y, -v.z); + default: return v; + } + } + + /* + * Returns closest point to a position. Used for symmetric editing + * */ + private RotationLimitPolygonal.LimitPoint GetClosestPoint(Vector3 v) + { + float closestDistace = Mathf.Infinity; + RotationLimitPolygonal.LimitPoint closestPoint = null; + + foreach (RotationLimitPolygonal.LimitPoint limitPoint in script.points) + { + if (limitPoint.point == v) return limitPoint; + + float d = Vector3.Distance(limitPoint.point, v); + if (d < closestDistace) + { + closestPoint = limitPoint; + closestDistace = d; + } + } + + return closestPoint; + } + + #endregion Scene + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs.meta new file mode 100644 index 00000000..6b635b9f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitPolygonalInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: de47701c76e93420cb6fe33b292880b9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs new file mode 100644 index 00000000..5f3c8561 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs @@ -0,0 +1,487 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK +{ + + /* + * Custom inspector for RotationLimitSpline + * */ + [CustomEditor(typeof(RotationLimitSpline))] + [CanEditMultipleObjects] + public class RotationLimitSplineInspector : RotationLimitInspector + { + + // Determines if we are dragging the handle's limits or angle + public enum ScaleMode + { + Limit, + Angle + } + + // In Smooth TangentMode, in and out tangents will always be the same, Independent allowes for difference + public enum TangentMode + { + Smooth, + Independent + } + + private RotationLimitSpline script { get { return target as RotationLimitSpline; } } + private RotationLimitSpline clone; + private ScaleMode scaleMode; + private TangentMode tangentMode; + private int selectedHandle = -1, deleteHandle = -1, addHandle = -1; + + #region Inspector + + public void OnEnable() + { + // Check if RotationLimitspline is properly set up, if not, reset to defaults + if (script.spline == null) + { + script.spline = new AnimationCurve(defaultKeys); + EditorUtility.SetDirty(script); + } + else if (script.spline.keys.Length < 4) + { + script.spline.keys = defaultKeys; + EditorUtility.SetDirty(script); + } + } + + /* + * Returns the default keyframes for the RotationLimitspline + * */ + private static Keyframe[] defaultKeys + { + get + { + Keyframe[] k = new Keyframe[5]; + // Values for a simple elliptic spline + k[0].time = 0.01f; + k[0].value = 30; + k[0].inTangent = 0.01f; + k[0].outTangent = 0.01f; + k[1].time = 90; + k[1].value = 45; + k[1].inTangent = 0.01f; + k[1].outTangent = 0.01f; + k[2].time = 180; + k[2].value = 30; + k[2].inTangent = 0.01f; + k[2].outTangent = 0.01f; + k[3].time = 270; + k[3].value = 45; + k[3].inTangent = 0.01f; + k[3].outTangent = 0.01f; + k[4].time = 360; + k[4].value = 30; + k[4].inTangent = 0.01f; + k[4].outTangent = 0.01f; + return k; + } + } + + public override void OnInspectorGUI() + { + GUI.changed = false; + + DrawDefaultInspector(); + + script.twistLimit = Mathf.Clamp(script.twistLimit, 0, 180); + + if (GUI.changed) EditorUtility.SetDirty(script); + } + + /* + * Make sure the keyframes and tangents are valid + * */ + private void ValidateKeyframes(Keyframe[] keys) + { + keys[keys.Length - 1].value = keys[0].value; + keys[keys.Length - 1].time = keys[0].time + 360; + keys[keys.Length - 1].inTangent = keys[0].inTangent; + } + + #endregion Inspector + + #region Scene + + void OnSceneGUI() + { + GUI.changed = false; + // Get the keyframes of the AnimationCurve to be manipulated + Keyframe[] keys = script.spline.keys; + + // Set defaultLocalRotation so that the initial local rotation will be the zero point for the rotation limit + if (!Application.isPlaying && !script.defaultLocalRotationOverride) script.defaultLocalRotation = script.transform.localRotation; + if (script.axis == Vector3.zero) return; + + // Make the curve loop + script.spline.postWrapMode = WrapMode.Loop; + script.spline.preWrapMode = WrapMode.Loop; + + DrawRotationSphere(script.transform.position); + + // Display the main axis + DrawArrow(script.transform.position, Direction(script.axis), colorDefault, "Axis", 0.02f); + + Vector3 swing = script.axis.normalized; + + // Editing tools GUI + Handles.BeginGUI(); + GUILayout.BeginArea(new Rect(10, 10, 440, 100), "Rotation Limit Spline", "Window"); + + // Scale Mode and Tangent Mode + GUILayout.BeginHorizontal(); + scaleMode = (ScaleMode)EditorGUILayout.EnumPopup("Drag Handle", scaleMode); + tangentMode = (TangentMode)EditorGUILayout.EnumPopup("Drag Tangents", tangentMode); + GUILayout.EndHorizontal(); + + EditorGUILayout.Space(); + + if (Inspector.Button("Rotate 90 degrees", "Rotate rotation limit around axis.", script, GUILayout.Width(220))) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Value"); + for (int i = 0; i < keys.Length; i++) keys[i].time += 90; + } + + // Cloning values from another RotationLimitSpline + EditorGUILayout.BeginHorizontal(); + if (Inspector.Button("Clone From", "Make this rotation limit identical to another", script, GUILayout.Width(220))) + { + CloneLimit(); + keys = script.spline.keys; + } + clone = (RotationLimitSpline)EditorGUILayout.ObjectField("", clone, typeof(RotationLimitSpline), true); + EditorGUILayout.EndHorizontal(); + + GUILayout.EndArea(); + Handles.EndGUI(); + + // Draw keyframes + for (int i = 0; i < keys.Length - 1; i++) + { + float angle = keys[i].time; + + // Start drawing handles + Quaternion offset = Quaternion.AngleAxis(angle, swing); + Quaternion rotation = Quaternion.AngleAxis(keys[i].value, offset * script.crossAxis); + Vector3 position = script.transform.position + Direction(rotation * swing); + Handles.Label(position, " " + i.ToString()); + + // Dragging Values + if (selectedHandle == i) + { + Handles.color = colorHandles; + switch (scaleMode) + { + case ScaleMode.Limit: + float inputValue = keys[i].value; + inputValue = Mathf.Clamp(Inspector.ScaleValueHandleSphere(inputValue, position, Quaternion.identity, 0.5f, 0), 0.01f, 180); + if (keys[i].value != inputValue) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Value"); + keys[i].value = inputValue; + } + break; + case ScaleMode.Angle: + float inputTime = keys[i].time; + inputTime = Inspector.ScaleValueHandleSphere(inputTime, position, Quaternion.identity, 0.5f, 0); + if (keys[i].time != inputTime) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Angle"); + keys[i].time = inputTime; + } + break; + } + } + + // Handle select button + if (selectedHandle != i) + { + Handles.color = Color.blue; + if (Inspector.SphereButton(position, script.transform.rotation, 0.05f, 0.05f)) + { + selectedHandle = i; + } + } + + // Tangents + if (selectedHandle == i) + { + // Evaluate positions before and after the key to get the tangent positions + Vector3 prevPosition = GetAnglePosition(keys[i].time - 1); + Vector3 nextPosition = GetAnglePosition(keys[i].time + 1); + + // Draw handles for the tangents + Handles.color = Color.white; + Vector3 toNext = (nextPosition - position).normalized * 0.3f; + float outTangent = keys[i].outTangent; + outTangent = Inspector.ScaleValueHandleSphere(outTangent, position + toNext, Quaternion.identity, 0.2f, 0); + + Vector3 toPrev = (prevPosition - position).normalized * 0.3f; + float inTangent = keys[i].inTangent; + inTangent = Inspector.ScaleValueHandleSphere(inTangent, position + toPrev, Quaternion.identity, 0.2f, 0); + + if (outTangent != keys[i].outTangent || inTangent != keys[i].inTangent) selectedHandle = i; + + // Make the other tangent match the dragged tangent (if in "Smooth" TangentMode) + switch (tangentMode) + { + case TangentMode.Smooth: + if (outTangent != keys[i].outTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Tangents"); + keys[i].outTangent = outTangent; + keys[i].inTangent = outTangent; + } + else if (inTangent != keys[i].inTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Tangents"); + keys[i].outTangent = inTangent; + keys[i].inTangent = inTangent; + } + break; + case TangentMode.Independent: + if (outTangent != keys[i].outTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Tangents"); + keys[i].outTangent = outTangent; + } + else if (inTangent != keys[i].inTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Tangents"); + keys[i].inTangent = inTangent; + } + break; + } + + // Draw lines and labels to tangent handles + Handles.color = Color.white; + GUI.color = Color.white; + + Handles.DrawLine(position, position + toNext); + Handles.Label(position + toNext, " Out"); + + Handles.DrawLine(position, position + toPrev); + Handles.Label(position + toPrev, " In"); + } + } + + // Selected Point GUI + if (selectedHandle != -1) + { + Handles.BeginGUI(); + //GUILayout.BeginArea(new Rect(Screen.width - 240, Screen.height - 200, 230, 150), "Handle " + selectedHandle.ToString(), "Window"); + GUILayout.BeginArea(new Rect(10, 120, 230, 150), "Handle " + selectedHandle.ToString(), "Window"); + + if (Inspector.Button("Delete", "Delete this handle", script)) + { + if (keys.Length > 4) + { + deleteHandle = selectedHandle; + } + else if (!Warning.logged) script.LogWarning("Spline Rotation Limit should have at least 3 handles"); + } + if (Inspector.Button("Add Handle", "Add a new handle next to this one", script)) + { + addHandle = selectedHandle; + } + + // Clamp the key angles to previous and next handle angles + float prevTime = 0, nextTime = 0; + if (selectedHandle < keys.Length - 2) nextTime = keys[selectedHandle + 1].time; + else nextTime = keys[0].time + 360; + + if (selectedHandle == 0) prevTime = keys[keys.Length - 2].time - 360; + else prevTime = keys[selectedHandle - 1].time; + + // Angles + float inputTime = keys[selectedHandle].time; + inputTime = Mathf.Clamp(EditorGUILayout.FloatField(new GUIContent("Angle", "Angle of the point (0-360)."), inputTime), prevTime, nextTime); + + if (keys[selectedHandle].time != inputTime) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Angle"); + keys[selectedHandle].time = inputTime; + } + + // Limits + float inputValue = keys[selectedHandle].value; + inputValue = Mathf.Clamp(EditorGUILayout.FloatField(new GUIContent("Limit", "Max angular limit from Axis at this angle"), inputValue), 0, 180); + if (keys[selectedHandle].value != inputValue) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Limit"); + keys[selectedHandle].value = inputValue; + } + + // In Tangents + float inputInTangent = keys[selectedHandle].inTangent; + inputInTangent = EditorGUILayout.FloatField(new GUIContent("In Tangent", "In tangent of the handle point on the spline"), inputInTangent); + if (keys[selectedHandle].inTangent != inputInTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle In Tangent"); + keys[selectedHandle].inTangent = inputInTangent; + } + + // Out tangents + float inputOutTangent = keys[selectedHandle].outTangent; + inputOutTangent = EditorGUILayout.FloatField(new GUIContent("Out Tangent", "Out tangent of the handle point on the spline"), inputOutTangent); + if (keys[selectedHandle].outTangent != inputOutTangent) + { + if (!Application.isPlaying) Undo.RecordObject(script, "Handle Out Tangent"); + keys[selectedHandle].outTangent = inputOutTangent; + } + + GUILayout.EndArea(); + Handles.EndGUI(); + } + + // Make sure the keyframes are valid; + ValidateKeyframes(keys); + + // Replace the AnimationCurve keyframes with the manipulated keyframes + script.spline.keys = keys; + + // Display limits + for (int i = 0; i < 360; i += 2) + { + float evaluatedLimit = script.spline.Evaluate((float)i); + Quaternion offset = Quaternion.AngleAxis(i, swing); + Quaternion evaluatedRotation = Quaternion.AngleAxis(evaluatedLimit, offset * script.crossAxis); + Quaternion testRotation = Quaternion.AngleAxis(179.9f, offset * script.crossAxis); + + Quaternion limitedRotation = script.LimitSwing(testRotation); + + Vector3 evaluatedDirection = evaluatedRotation * swing; + Vector3 limitedDirection = limitedRotation * swing; + + // Display the limit points in red if they are out of range + bool isValid = Vector3.Distance(evaluatedDirection, limitedDirection) < 0.01f && evaluatedLimit >= 0; + Color color = isValid ? colorDefaultTransparent : colorInvalid; + + Vector3 limitPoint = script.transform.position + Direction(evaluatedDirection); + + Handles.color = color; + if (i == 0) zeroPoint = limitPoint; + + Handles.DrawLine(script.transform.position, limitPoint); + + if (i > 0) + { + Handles.color = isValid ? colorDefault : colorInvalid; + Handles.DrawLine(limitPoint, lastPoint); + if (i == 358) Handles.DrawLine(limitPoint, zeroPoint); + } + + lastPoint = limitPoint; + } + + // Deleting points + if (deleteHandle != -1) + { + DeleteHandle(deleteHandle); + selectedHandle = -1; + deleteHandle = -1; + } + + // Adding points + if (addHandle != -1) + { + AddHandle(addHandle); + addHandle = -1; + } + + Handles.color = Color.white; + if (GUI.changed) EditorUtility.SetDirty(script); + } + + private Vector3 lastPoint, zeroPoint; + + /* + * Return the evaluated position for the specified angle + * */ + private Vector3 GetAnglePosition(float angle) + { + Vector3 swing = script.axis.normalized; + Quaternion offset = Quaternion.AngleAxis(angle, swing); + Quaternion rotation = Quaternion.AngleAxis(script.spline.Evaluate(angle), offset * script.crossAxis); + return script.transform.position + Direction(rotation * swing); + } + + /* + * Converting directions from local space to world space + * */ + private Vector3 Direction(Vector3 v) + { + if (script.transform.parent == null) return script.defaultLocalRotation * v; + return script.transform.parent.rotation * (script.defaultLocalRotation * v); + } + + /* + * Removing Handles + * */ + private void DeleteHandle(int p) + { + Keyframe[] keys = script.spline.keys; + Keyframe[] newKeys = new Keyframe[0]; + + for (int i = 0; i < keys.Length; i++) + { + if (i != p) + { + Array.Resize(ref newKeys, newKeys.Length + 1); + newKeys[newKeys.Length - 1] = keys[i]; + } + } + + script.spline.keys = newKeys; + } + + /* + * Creating new Handles + * */ + private void AddHandle(int p) + { + Keyframe[] keys = script.spline.keys; + Keyframe[] newKeys = new Keyframe[keys.Length + 1]; + + for (int i = 0; i < p + 1; i++) newKeys[i] = keys[i]; + + float nextTime = 0; + if (p < keys.Length - 1) nextTime = keys[p + 1].time; + else nextTime = keys[0].time; + + float newTime = Mathf.Lerp(keys[p].time, nextTime, 0.5f); + float newValue = script.spline.Evaluate(newTime); + + newKeys[p + 1] = new Keyframe(newTime, newValue); + + for (int i = p + 2; i < newKeys.Length; i++) newKeys[i] = keys[i - 1]; + + script.spline.keys = newKeys; + } + + /* + * Clone properties from another RotationLimitSpline + * */ + private void CloneLimit() + { + if (clone == null) return; + if (clone == script) + { + script.LogWarning("Can't clone from self."); + return; + } + + script.axis = clone.axis; + script.twistLimit = clone.twistLimit; + script.spline.keys = clone.spline.keys; + } + + #endregion Scene + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs.meta new file mode 100644 index 00000000..53d0143d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/RotationLimitSplineInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: bcf14365f408140e9b73e2b9bcc0e88f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs new file mode 100644 index 00000000..a6996db9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs @@ -0,0 +1,38 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for TrigonometricIK. + * */ + [CustomEditor(typeof(TrigonometricIK))] + public class TrigonometricIKInspector : IKInspector { + + private TrigonometricIK script { get { return target as TrigonometricIK; }} + + protected override MonoBehaviour GetMonoBehaviour(out int executionOrder) { + executionOrder = 9997; + return script; + } + + protected override void OnApplyModifiedProperties() { + if (!Application.isPlaying) script.solver.Initiate(script.transform); + } + + protected override void AddInspector() { + // Draw the inspector for IKSolverTrigonometric + IKSolverTrigonometricInspector.AddInspector(solver, !Application.isPlaying, true); + + // Warning box + string message = string.Empty; + if (!script.solver.IsValid(ref message)) AddWarningBox(message); + } + + void OnSceneGUI() { + // Draw the scene veiw helpers + IKSolverTrigonometricInspector.AddScene(script.solver, new Color(0f, 1f, 1f, 1f), true); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs.meta new file mode 100644 index 00000000..6cb6539f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/TrigonometricIKInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 98c4f265c1c854d718c42d0308c186d9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs new file mode 100644 index 00000000..99353dfa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs @@ -0,0 +1,52 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEditor; + +namespace RootMotion.FinalIK +{ + + [CustomEditor(typeof(UniversalPoser))] + public class UniversalPoserInspector : Editor + { + private UniversalPoser script { get { return target as UniversalPoser; } } + + public override void OnInspectorGUI() + { + serializedObject.Update(); + + EditorGUILayout.PropertyField(serializedObject.FindProperty("fixTransforms")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("poseRoot")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("weight")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("localRotationWeight")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("localPositionWeight")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("targetAxis1")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("targetAxis2")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("axis1")); + EditorGUILayout.PropertyField(serializedObject.FindProperty("axis2")); + + var bones = serializedObject.FindProperty("bones"); + EditorGUILayout.PropertyField(bones); + + if (GUILayout.Button("Auto-Assign Bones")) + { + var children = script.GetComponentsInChildren(); + if (children.Length > 1) + { + bones.ClearArray(); + for (int i = 1; i < children.Length; i++) + { + bones.InsertArrayElementAtIndex(i - 1); + bones.GetArrayElementAtIndex(i - 1).FindPropertyRelative("bone").objectReferenceValue = children[i]; + } + } + } + + + if (serializedObject.ApplyModifiedProperties()) + { + EditorUtility.SetDirty(script); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs.meta new file mode 100644 index 00000000..34f8b83a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/UniversalPoserInspector.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4fadbe5ce83d31a498af4e227c5970b2 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs new file mode 100644 index 00000000..177a877b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs @@ -0,0 +1,34 @@ +using UnityEditor; +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /* + * Custom inspector for VRIK. + * */ + [CustomEditor(typeof(VRIK))] + public class VRIKInspector : Editor { + + private VRIK script { get { return target as VRIK; }} + private MonoScript monoScript; + + void OnEnable() { + if (serializedObject == null) return; + + // Changing the script execution order + if (!Application.isPlaying) { + monoScript = MonoScript.FromMonoBehaviour(script as MonoBehaviour); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != 9998) MonoImporter.SetExecutionOrder(monoScript, 9998); + + if (script.references.isEmpty) script.AutoDetectReferences(); + + script.solver.DefaultAnimationCurves(); + script.solver.GuessHandOrientations(script.references, true); + + // TODO Set dirty + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs.meta new file mode 100644 index 00000000..4e9654ae --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/VRIKInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 6677b87ab01b6d341b8dba26424ac1c9 +timeCreated: 1461012106 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS.meta new file mode 100644 index 00000000..b3a53fc4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: d0741bad3e4d74bb99540a06e7929fc4 +folderAsset: yes +timeCreated: 1436186162 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs new file mode 100644 index 00000000..ed8f3034 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs @@ -0,0 +1,34 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion.Demos { + + /// + /// Scene view helper for the LimbIK BendGoal + /// + [CustomEditor(typeof(BendGoal))] + public class BendGoalInspector : Editor { + + private BendGoal script { get { return target as BendGoal; }} + + public override void OnInspectorGUI() { + DrawDefaultInspector(); + } + + void OnSceneGUI() { + if (script.limbIK == null) return; + if (script.limbIK.solver.bone2 == null) return; + if (script.limbIK.solver.bone2.transform == null) return; + + Handles.color = Color.cyan; + + Vector3 bonePosition = script.limbIK.solver.bone2.transform.position; + Handles.DrawLine(script.transform.position, bonePosition); + Inspector.SphereCap(0, script.transform.position, Quaternion.identity, 0.05f); + Inspector.SphereCap(0, bonePosition, Quaternion.identity, 0.025f); + + Handles.color = Color.white; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs.meta new file mode 100644 index 00000000..7aa1b35f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/FinalIK/_DEMOS/BendGoalInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 684cc44fa10474fefa6a837d949e7449 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef new file mode 100644 index 00000000..9f5a38e6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef @@ -0,0 +1,10 @@ +{ + "name": "RootMotionEditor", + "references": [ + "RootMotion" + ], + "includePlatforms": [ + "Editor" + ], + "excludePlatforms": [] +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef.meta new file mode 100644 index 00000000..e1f9505d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/RootMotion.Editor.asmdef.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: fad9225a277e8764b81e4bda5c8fc27d +AssemblyDefinitionImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts.meta new file mode 100644 index 00000000..226a5165 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: dab395325550b7642aab381552be816e +folderAsset: yes +timeCreated: 1478090994 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs new file mode 100644 index 00000000..2ac6789a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs @@ -0,0 +1,22 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion { + + // Just making sure the camera controller updates last + [CustomEditor(typeof(CameraController))] + public class CameraControllerInspector : Editor { + + private CameraController script { get { return target as CameraController; }} + private MonoScript monoScript; + + void OnEnable() { + if (!Application.isPlaying) { + monoScript = MonoScript.FromMonoBehaviour(script); + int currentExecutionOrder = MonoImporter.GetExecutionOrder(monoScript); + if (currentExecutionOrder != 10200) MonoImporter.SetExecutionOrder(monoScript, 10200); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs.meta new file mode 100644 index 00000000..dc2dc6e9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Demo Scripts/CameraControllerInspector.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b4af31e5f2e82444d80e3b3020689f59 +timeCreated: 1444227100 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts.meta new file mode 100644 index 00000000..a00fe801 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 2ecaf76b180974576a00c022bf77d0b6 +folderAsset: yes +timeCreated: 1436260609 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs new file mode 100644 index 00000000..c3c88baf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs @@ -0,0 +1,26 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion { + + /* + * Custom inspector for BipedReferences + * */ + public class BipedReferencesInspector: Inspector { + + /* + * Draws the default property, returns true if modified + * */ + public static bool AddModifiedInspector(SerializedProperty prop) { + EditorGUILayout.PropertyField(prop, true); + + if (prop.isExpanded) EditorGUILayout.Space(); + + // If references have changed reinitiate the bipedIK. + if (prop.serializedObject.ApplyModifiedProperties()) return true; + + return false; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs.meta new file mode 100644 index 00000000..7a4ac121 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/BipedReferencesInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5880965ffd5754534ac6d4c1fce8bb73 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs new file mode 100644 index 00000000..b45d448b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs @@ -0,0 +1,41 @@ +using UnityEngine; +using System.Collections; +using UnityEditor; + +namespace RootMotion { + + [CustomEditor(typeof(Comments))] + public class CommentsInspector : Editor { + + private Comments script { get { return target as Comments; }} + private GUIStyle style = new GUIStyle(); + + // Black and white + //private static Color pro = new Color(0.7f, 0.7f, 0.7f, 1f); + //private static Color free = new Color(0, 0, 0, 1); + + // Colors + private static Color pro = new Color(0.5f, 0.7f, 0.3f, 1f); + private static Color free = new Color(0.2f, 0.3f, 0.1f, 1f); + + public override void OnInspectorGUI() { + if (serializedObject == null) return; + + style.wordWrap = true; + style.normal.textColor = EditorGUIUtility.isProSkin? pro: free; + + serializedObject.Update(); + EditorGUILayout.Space(); + + string text = EditorGUILayout.TextArea(script.text, style); + if (text != script.text) { + Undo.RecordObject(script, "Edit Comments"); + script.text = text; + } + + EditorGUILayout.Space(); + + serializedObject.ApplyModifiedProperties(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs.meta new file mode 100644 index 00000000..3f58bacd --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/CommentsInspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c93e61235cb3cad45aec1688c1990eff +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs new file mode 100644 index 00000000..b97262b5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs @@ -0,0 +1,323 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion { + + /* + * Inspector contains helper methods for creating undoable custom inspectors with enforced layout, tooltips and styling + * */ + public class Inspector { + + #region InspectorGUI tools + + public const int indent = 16; + + public delegate void DrawArrayElement(SerializedProperty prop, bool editHierarchy); + public delegate void DrawArrayElementLabel(SerializedProperty prop, bool editHierarchy); + public delegate void OnAddToArray(SerializedProperty prop); + + private static string arrayName; + private static SerializedProperty property; + private static SerializedProperty element; + + public static string GetArrayName(SerializedProperty array, string emptyName, string propertyName = "") { + if (array.arraySize < 1) return emptyName; + property = propertyName == ""? array.GetArrayElementAtIndex(0): array.GetArrayElementAtIndex(0).FindPropertyRelative(propertyName); + return GetObjectReferenceName(property, emptyName); + } + + public static string GetObjectReferenceName(SerializedProperty prop, string emptyName) { + if (prop.objectReferenceValue == null) return emptyName; + return prop.objectReferenceValue.name; + } + + public static void AddArray(SerializedProperty prop, GUIContent guiContent, bool editHierarchy, bool changeOrder, DrawArrayElement drawArrayElement = null, OnAddToArray onAddToArray = null, DrawArrayElementLabel drawArrayElementLabel = null, bool showHeading = true) { + int resetIndent = EditorGUI.indentLevel; + + // Array heading + if (showHeading) { + GUILayout.BeginHorizontal(); + GUILayout.Space(EditorGUI.indentLevel * indent); + + if (drawArrayElement == null) { + GUILayout.Label(guiContent.text + " (" + prop.arraySize.ToString() + ")", GUILayout.Width(150)); + } else { + EditorGUILayout.PropertyField(prop, new GUIContent(guiContent.text + " (" + prop.arraySize.ToString() + ")", string.Empty), false, GUILayout.Width(150)); + } + + GUILayout.EndHorizontal(); + } + + int deleteIndex = -1; + + if (drawArrayElement == null || !showHeading) prop.isExpanded = true; + + // Draw Array elements + if (prop.isExpanded) { + for(int i = 0; i < prop.arraySize; i++) { + GUILayout.BeginHorizontal(); // Main + GUILayout.Space(((EditorGUI.indentLevel + 1) * indent)); + GUILayout.BeginVertical(); + + element = prop.GetArrayElementAtIndex(i); + + // Label + GUILayout.BeginHorizontal(); + + if (editHierarchy && GUILayout.Button(new GUIContent("-", "Remove"), changeOrder? EditorStyles.miniButtonLeft: EditorStyles.miniButton, GUILayout.Width(20))){ + deleteIndex = i; + } + + if (changeOrder) { + if (GUILayout.Button(new GUIContent("<", "Move up"), editHierarchy? EditorStyles.miniButtonMid: EditorStyles.miniButtonLeft, GUILayout.Width(20))) { + int moveTo = i == 0? prop.arraySize - 1: i - 1; + prop.MoveArrayElement(i, moveTo); + prop.isExpanded = true; + } + + if (GUILayout.Button(new GUIContent(">", "Move down"), EditorStyles.miniButtonRight, GUILayout.Width(20))) { + int moveTo = i == prop.arraySize - 1? 0: i + 1; + prop.MoveArrayElement(i, moveTo); + prop.isExpanded = true; + } + } + + // Calling the DrawArrayElementLabel delegate + if (drawArrayElementLabel != null) { + drawArrayElementLabel(element, editHierarchy); + } + + GUILayout.EndHorizontal(); // End Label + + // Array Element + GUILayout.BeginVertical(); + if (element.isExpanded && drawArrayElement != null) { + drawArrayElement(element, editHierarchy); + } + GUILayout.EndVertical(); + + GUILayout.Space(5); + + GUILayout.EndVertical(); // End Style + GUILayout.EndHorizontal(); // End Main + } + + // Deleting array elements + if (deleteIndex != -1) prop.DeleteArrayElementAtIndex(deleteIndex); + + // Adding array elements + GUILayout.BeginHorizontal(); + GUILayout.Space(((EditorGUI.indentLevel + 1) * indent) + 4); + GUILayout.BeginVertical(); + + if (editHierarchy && GUILayout.Button(new GUIContent("+", "Add"), EditorStyles.miniButton, GUILayout.Width(20))) { + prop.arraySize ++; + + if (onAddToArray != null) onAddToArray(prop.GetArrayElementAtIndex(prop.arraySize - 1)); + } + + GUILayout.EndVertical(); + GUILayout.EndHorizontal(); + } + + EditorGUI.indentLevel = resetIndent; + } + + public static void AddContent(SerializedContent content, bool addChildren = false, params GUILayoutOption[] options) { + EditorGUILayout.PropertyField(content.prop, content.guiContent, addChildren, options); + } + + public static void AddClampedFloat(SerializedContent content, float min = 0f, float max = 1f, params GUILayoutOption[] options) { + AddClampedFloat(content.prop, content.guiContent, min, max, options); + } + + public static void AddClampedInt(SerializedContent content, int min = int.MinValue, int max = int.MaxValue, params GUILayoutOption[] options) { + AddClampedInt(content.prop, content.guiContent, min, max, options); + } + + public static void AddClampedFloat(SerializedProperty prop, GUIContent guiContent, float min = 0f, float max = 1f, params GUILayoutOption[] options) { + EditorGUILayout.PropertyField(prop, guiContent, options); + prop.floatValue = Mathf.Clamp(prop.floatValue, min, max); + } + + public static void AddClampedInt(SerializedProperty prop, GUIContent guiContent, int min = int.MinValue, int max = int.MaxValue, params GUILayoutOption[] options) { + EditorGUILayout.PropertyField(prop, guiContent, options); + prop.intValue = Mathf.Clamp(prop.intValue, min, max); + } + + public static void AddObjectReference(SerializedProperty prop, GUIContent guiContent, bool editHierarchy, int labelWidth, bool alignToEdge = true) { + if (alignToEdge) GUILayout.BeginHorizontal(); + EditorGUILayout.LabelField(guiContent, GUILayout.MinWidth(labelWidth)); + if (editHierarchy) { + EditorGUILayout.PropertyField(prop, GUIContent.none); + } else { + UnityEngine.Object obj = prop.objectReferenceValue; + EditorGUILayout.LabelField(new GUIContent(obj != null? obj.name: "None")); + } + if (alignToEdge) GUILayout.EndHorizontal(); + } + + public static void AddObjectReference(SerializedProperty prop, GUIContent guiContent, bool editHierarchy, int labelWidth, int propWidth, bool alignToEdge = true) { + //if (alignToEdge) GUILayout.BeginHorizontal(); + EditorGUILayout.LabelField(guiContent, GUILayout.Width(labelWidth)); + if (editHierarchy) { + EditorGUILayout.PropertyField(prop, GUIContent.none, GUILayout.Width(propWidth)); + } else { + UnityEngine.Object obj = prop.objectReferenceValue; + EditorGUILayout.LabelField(new GUIContent(obj != null? obj.name: "None"), GUILayout.Width(propWidth)); + } + //if (alignToEdge) GUILayout.EndHorizontal(); + } + + #endregion InspectorGUI tools + + #region SceneGUI tools + + public static bool Button(string name, string toolTip, Object undoObject, params GUILayoutOption[] options) { + bool button = GUILayout.Button(new GUIContent(name, toolTip), options); + if (button && !Application.isPlaying) Undo.RecordObject(undoObject, name); + return button; + } + + public static Object AddObject(Object input, string name, string toolTip, System.Type type, bool allowSceneObjects, Object undoObject, params GUILayoutOption[] options) { + Object newValue = EditorGUILayout.ObjectField(new GUIContent(name, toolTip), input, type, allowSceneObjects, options); + + return RecordObject(input, newValue, name, undoObject); + } + + public static System.Enum AddEnum(System.Enum input, string name, string toolTip, Object undoObject, params GUILayoutOption[] options) { + System.Enum newValue = EditorGUILayout.EnumPopup(new GUIContent(name, toolTip), input, options); + + if (newValue.ToString() != input.ToString() && !Application.isPlaying) Undo.RecordObject(undoObject, name); + return newValue; + } + + public static void AddHorizontalSlider(ref float input, float leftValue, float rightValue, string name, string toolTip, Object undoObject, int labelWidth, int minWidth) { + EditorGUILayout.BeginHorizontal(); + + GUILayout.Label(new GUIContent(name, toolTip), GUILayout.Width(labelWidth)); + + input = RecordObjectFloat(input, GUILayout.HorizontalSlider(input, leftValue, rightValue, GUILayout.MinWidth(minWidth)), name, undoObject); + input = Mathf.Clamp(RecordObjectFloat(input, EditorGUILayout.FloatField(string.Empty, input, GUILayout.Width(75)), name, undoObject), leftValue, rightValue); + + EditorGUILayout.EndHorizontal(); + } + + public static void AddFloat(ref float input, string name, string toolTip, Object undoObject, float min = -Mathf.Infinity, float max = Mathf.Infinity, params GUILayoutOption[] options) { + input = Mathf.Clamp(RecordObjectFloat(input, EditorGUILayout.FloatField(new GUIContent(name, toolTip), input, options), name, undoObject), min, max); + } + + public static void AddInt(ref int input, string name, string toolTip, Object undoObject, int min = -int.MaxValue, int max = int.MaxValue, params GUILayoutOption[] options) { + input = Mathf.Clamp((int)RecordObjectFloat((float)input, (float)EditorGUILayout.IntField(new GUIContent(name, toolTip), input, options), name, undoObject), min, max); + } + + public static void AddBool(ref bool input, string name, string toolTip, Object undoObject) { + bool newValue = EditorGUILayout.Toggle(new GUIContent(name, toolTip), input); + + if (newValue != input && !Application.isPlaying) { + Undo.RecordObject(undoObject, name); + } + + input = newValue; + } + + public static void AddVector3(ref Vector3 input, string name, Object undoObject, params GUILayoutOption[] options) { + Vector3 newValue = EditorGUILayout.Vector3Field(name, input, options); + + if (newValue != input && !Application.isPlaying) { + Undo.RecordObject(undoObject, name); + } + + input = newValue; + } + + private static float RecordObjectFloat(float input, float newValue, string name, Object undoObject) { + if (newValue != input && !Application.isPlaying) Undo.RecordObject(undoObject, name); + return newValue; + } + + private static Object RecordObject(Object input, Object newValue, string name, Object undoObject) { + if (newValue != input && !Application.isPlaying) Undo.RecordObject(undoObject, name); + return newValue; + } + + #endregion SceneGUI tools + + #region Platform dependent + + public static void SphereCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.SphereHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.SphereCap(controlID, position, rotation, size); + #endif + } + + public static void CubeCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.CubeHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.CubeCap(controlID, position, rotation, size); + #endif + } + + public static void ConeCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.ConeHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.ConeCap(controlID, position, rotation, size); + #endif + } + + public static void ArrowCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.ArrowHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.ArrowCap(controlID, position, rotation, size); + #endif + } + + public static void CircleCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.CircleHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.CircleCap(controlID, position, rotation, size); + #endif + } + + public static void DotCap(int controlID, Vector3 position, Quaternion rotation, float size) { + #if UNITY_5_6_OR_NEWER + Handles.DotHandleCap(controlID, position, rotation, size, EventType.Repaint); + #else + Handles.DotCap(controlID, position, rotation, size); + #endif + } + + public static bool DotButton(Vector3 position, Quaternion direction, float size, float pickSize) { + #if UNITY_5_6_OR_NEWER + return Handles.Button(position, direction, size, pickSize, Handles.DotHandleCap); + #else + return Handles.Button(position, direction, size, pickSize, Handles.DotCap); + #endif + } + + public static bool SphereButton(Vector3 position, Quaternion direction, float size, float pickSize) { + #if UNITY_5_6_OR_NEWER + return Handles.Button(position, direction, size, pickSize, Handles.SphereHandleCap); + #else + return Handles.Button(position, direction, size, pickSize, Handles.SphereCap); + #endif + } + + public static float ScaleValueHandleSphere(float value, Vector3 position, Quaternion rotation, float size, float snap) { + #if UNITY_5_6_OR_NEWER + return Handles.ScaleValueHandle(value, position, rotation, size, Handles.SphereHandleCap, snap); + #else + return Handles.ScaleValueHandle(value, position, rotation, size, Handles.SphereCap, snap); + #endif + } + + #endregion Platform dependent + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs.meta new file mode 100644 index 00000000..1b532c46 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/Inspector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c18519ac3faf848ca878cd0509c4ce8c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs new file mode 100644 index 00000000..ba68a5b7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs @@ -0,0 +1,65 @@ +using UnityEditor; +using UnityEngine; + +namespace RootMotion +{ + + // Custom drawer for the LargeHeader attribute + [CustomPropertyDrawer(typeof(InspectorComment))] + public class InspectorCommentDrawer : DecoratorDrawer + { + // Used to calculate the height of the box + public static Texture2D lineTex = null; + private GUIStyle style; + + InspectorComment comment { get { return ((InspectorComment)attribute); } } + + // Get the height of the element + public override float GetHeight() + { + style = GetStyle(); + return style.CalcHeight(new GUIContent(comment.name), EditorGUIUtility.currentViewWidth) + 10f; + + //return base.GetHeight() * 1.5f; + } + + // Override the GUI drawing for this attribute + public override void OnGUI(Rect pos) + { + // Get the color the line should be + Color color = Color.white; + switch (comment.color.ToString().ToLower()) + { + case "white": color = Color.white; break; + case "red": color = Color.red; break; + case "blue": color = Color.blue; break; + case "green": color = Color.green; break; + case "gray": color = Color.gray; break; + case "grey": color = Color.grey; break; + case "black": color = Color.black; break; + } + + color *= 0.5f; + + style = GetStyle(); + + GUI.color = color; + + Rect labelRect = pos; + //labelRect.y += 10; + EditorGUI.LabelField(labelRect, new GUIContent(comment.name), style); + + GUI.color = Color.white; + } + + private GUIStyle GetStyle() + { + var style = new GUIStyle(GUI.skin.label); + style.fontSize = 10; + style.fontStyle = FontStyle.Normal; + style.wordWrap = true; + style.alignment = TextAnchor.LowerLeft; + return style; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs.meta new file mode 100644 index 00000000..d5adc442 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/InspectorCommentDrawer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c87de0c0b96012c43b2684edd36e3289 +timeCreated: 1533045048 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs new file mode 100644 index 00000000..6b8dfd99 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs @@ -0,0 +1,171 @@ +using UnityEditor; +using UnityEngine; +using System; + +namespace RootMotion +{ + + [CustomPropertyDrawer(typeof(ShowIfAttribute))] + public class ShowIfPropertyDrawer : PropertyDrawer + { + protected ShowIfAttribute showIfAttribute; + protected SerializedProperty prop; + + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) + { + if (!Show(property) && showIfAttribute.mode == ShowIfMode.Hidden) return -EditorGUIUtility.standardVerticalSpacing; + + return EditorGUI.GetPropertyHeight(property, label); + } + + protected bool Show(SerializedProperty property) + { + showIfAttribute = attribute as ShowIfAttribute; + + var path = property.propertyPath.Contains(".") ? System.IO.Path.ChangeExtension(property.propertyPath, showIfAttribute.propName) : showIfAttribute.propName; + + prop = property.serializedObject.FindProperty(path); + if (prop == null) return true; + + switch(prop.propertyType) + { + case SerializedPropertyType.Enum: + return prop.enumValueIndex.Equals((int)showIfAttribute.propValue); + case SerializedPropertyType.Boolean: + return prop.boolValue.Equals(showIfAttribute.propValue); + case SerializedPropertyType.Float: + return prop.floatValue > (float)showIfAttribute.propValue && prop.floatValue < (float)showIfAttribute.otherPropValue; + case SerializedPropertyType.LayerMask: + return prop.intValue != 0; + case SerializedPropertyType.String: + return prop.stringValue != string.Empty && prop.stringValue != ""; + case SerializedPropertyType.Vector2: + float sqrMag2 = prop.vector2Value.sqrMagnitude; + return sqrMag2 > (float)showIfAttribute.propValue && sqrMag2 < (float)showIfAttribute.otherPropValue; + case SerializedPropertyType.Vector3: + float sqrMag3 = prop.vector3Value.sqrMagnitude; + return sqrMag3 > (float)showIfAttribute.propValue && sqrMag3 < (float)showIfAttribute.otherPropValue; + case SerializedPropertyType.Vector4: + float sqrMag4 = prop.vector4Value.sqrMagnitude; + return sqrMag4 > (float)showIfAttribute.propValue && sqrMag4 < (float)showIfAttribute.otherPropValue; + case SerializedPropertyType.ObjectReference: + return prop.objectReferenceValue != null; + default: + Debug.LogError("Unsupported ShowIf property type: " + prop.propertyType); + return true; + } + } + + public override void OnGUI(Rect position, SerializedProperty property, GUIContent label) + { + showIfAttribute = attribute as ShowIfAttribute; + + EditorGUI.BeginProperty(position, label, property); + + if (Show(property)) + { + if (showIfAttribute.indent) EditorGUI.indentLevel++; + Draw(position, property, attribute, label); + if (showIfAttribute.indent) EditorGUI.indentLevel--; + } + else if (showIfAttribute.mode == ShowIfMode.Disabled) + { + if (showIfAttribute.indent) EditorGUI.indentLevel++; + GUI.enabled = false; + Draw(position, property, attribute, label); + GUI.enabled = true; + if (showIfAttribute.indent) EditorGUI.indentLevel--; + } + + EditorGUI.EndProperty(); + } + + protected virtual void Draw(Rect position, SerializedProperty property, PropertyAttribute attribute, GUIContent label) + { + + EditorGUI.PropertyField(position, property, label, true); + } + } + + [CustomPropertyDrawer(typeof(ShowRangeIfAttribute))] + public class ShowRangeIfPropertyDrawer : ShowIfPropertyDrawer + { + protected override void Draw(Rect position, SerializedProperty property, PropertyAttribute attribute, GUIContent label) + { + ShowRangeIfAttribute range = attribute as ShowRangeIfAttribute; + + if (property.propertyType == SerializedPropertyType.Float) + EditorGUI.Slider(position, property, range.min, range.max, label); + else if (property.propertyType == SerializedPropertyType.Integer) + EditorGUI.IntSlider(position, property, Convert.ToInt32(range.min), Convert.ToInt32(range.max), label); + else + EditorGUI.LabelField(position, label.text, "Use Range with float or int."); + } + } + + // Custom drawer for the LargeHeader attribute + [CustomPropertyDrawer(typeof(ShowLargeHeaderIf))] + public class ShowLargeHeaderIfDrawer : ShowIfPropertyDrawer + { + public override float GetPropertyHeight(SerializedProperty property, GUIContent label) + { + if (!Show(property) && showIfAttribute.mode == ShowIfMode.Hidden) return -EditorGUIUtility.standardVerticalSpacing; + + return base.GetPropertyHeight(property, label) * 2f; + } + + // Override the GUI drawing for this attribute + protected override void Draw(Rect position, SerializedProperty property, PropertyAttribute attribute, GUIContent label) + { + var largeHeader = (ShowLargeHeaderIf)attribute; + LargeHeaderDrawer.Draw(position, largeHeader.name, largeHeader.color); + } + } + + // Custom drawer for the LargeHeader attribute + [CustomPropertyDrawer(typeof(LargeHeader))] + public class LargeHeaderDrawer : DecoratorDrawer + { + // Get the height of the element + public override float GetHeight() + { + return base.GetHeight() * 2f; + } + + // Override the GUI drawing for this attribute + public override void OnGUI(Rect position) + { + var largeHeader = (LargeHeader)attribute; + Draw(position, largeHeader.name, largeHeader.color); + } + + public static void Draw(Rect position, string name, string color) + { + // Get the color the line should be + Color c = Color.white; + switch (color.ToString().ToLower()) + { + case "white": c = Color.white; break; + case "red": c = Color.red; break; + case "blue": c = Color.blue; break; + case "green": c = Color.green; break; + case "gray": c = Color.gray; break; + case "grey": c = Color.grey; break; + case "black": c = Color.black; break; + } + + c *= 0.7f; + + var style = new GUIStyle(GUI.skin.label); + style.fontSize = 16; + style.fontStyle = FontStyle.Normal; + style.alignment = TextAnchor.LowerLeft; + GUI.color = c; + + Rect labelRect = position; + EditorGUI.LabelField(labelRect, name, style); + + GUI.color = Color.white; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs.meta new file mode 100644 index 00000000..77c5a497 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/PropertyDrawers.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 3ac9eb818e19f0442850412e6c19c51d +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs new file mode 100644 index 00000000..b3a68499 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs @@ -0,0 +1,19 @@ +using UnityEngine; +using UnityEditor; +using System.Collections; + +namespace RootMotion { + + /* + * Serialized content is used for caching serialized properties and their respective GUIContent and enforcing unified GUI layout. + * */ + public struct SerializedContent { + public SerializedProperty prop; + public GUIContent guiContent; + + public SerializedContent(SerializedProperty prop, GUIContent guiContent) { + this.prop = prop; + this.guiContent = guiContent; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs.meta new file mode 100644 index 00000000..90fad9ac --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Editor/Shared Scripts/SerializedContent.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: fa9bdb02a53b1450c8f474d42de57950 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK.meta new file mode 100644 index 00000000..bd444895 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 934bb813ebad34517a1b22565370b2af +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK.meta new file mode 100644 index 00000000..3c03eac4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 24b4e6f1f9c204bc5bd16676aecf434d +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs new file mode 100644 index 00000000..3f6db065 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs @@ -0,0 +1,317 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// %IK system for standard biped characters that is designed to replicate and enhance the behaviour of the Unity's built-in character %IK setup. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page4.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Biped IK")] + public class BipedIK : SolverManager { + + // Open the User Manual URL + [ContextMenu("User Manual")] + private void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page4.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + private void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_biped_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// References to character bones. + /// + public BipedReferences references = new BipedReferences(); + /// + /// The %IK solvers. + /// + public BipedIKSolvers solvers = new BipedIKSolvers(); + + /// + /// Gets the %IK position weight. + /// + /// + /// %IK Goal. + /// + public float GetIKPositionWeight(AvatarIKGoal goal) { + return GetGoalIK(goal).GetIKPositionWeight(); + } + + /// + /// Gets the %IK rotation weight. + /// + /// + /// IK Goal. + /// + public float GetIKRotationWeight(AvatarIKGoal goal) { + return GetGoalIK(goal).GetIKRotationWeight(); + } + + /// + /// Sets the %IK position weight. + /// + /// + /// %IK Goal. + /// + /// + /// Weight. + /// + public void SetIKPositionWeight(AvatarIKGoal goal, float weight) { + GetGoalIK(goal).SetIKPositionWeight(weight); + } + + /// + /// Sets the %IK rotation weight. + /// + /// + /// %IK Goal. + /// + /// + /// Weight. + /// + public void SetIKRotationWeight(AvatarIKGoal goal, float weight) { + GetGoalIK(goal).SetIKRotationWeight(weight); + } + + /// + /// Sets the %IK position. + /// + /// + /// %IK Goal. + /// + /// + /// Position. + /// + public void SetIKPosition(AvatarIKGoal goal, Vector3 IKPosition) { + GetGoalIK(goal).SetIKPosition(IKPosition); + } + + /// + /// Sets the %IK rotation. + /// + /// + /// %IK Goal. + /// + /// + /// Rotation. + /// + public void SetIKRotation(AvatarIKGoal goal, Quaternion IKRotation) { + GetGoalIK(goal).SetIKRotation(IKRotation); + } + + /// + /// Gets the %IK position. + /// + /// + /// %IK Goal. + /// + public Vector3 GetIKPosition(AvatarIKGoal goal) { + return GetGoalIK(goal).GetIKPosition(); + } + + /// + /// Gets the %IK rotation. + /// + /// + /// %IK Goal. + /// + public Quaternion GetIKRotation(AvatarIKGoal goal) { + return GetGoalIK(goal).GetIKRotation(); + } + + /// + /// Sets the look at weight. + /// + /// + /// Master Weight. + /// + /// + /// Body weight. + /// + /// + /// Head weight. + /// + /// + /// Eyes weight. + /// + /// + /// Clamp weight for body and head. + /// + /// + /// Clamp weight for eyes. + /// + public void SetLookAtWeight(float weight, float bodyWeight , float headWeight, float eyesWeight, float clampWeight, float clampWeightHead, float clampWeightEyes) { + solvers.lookAt.SetLookAtWeight(weight, bodyWeight, headWeight, eyesWeight, clampWeight, clampWeightHead, clampWeightEyes); + } + + /// + /// Sets the look at target. + /// + /// + /// Look at position. + /// + public void SetLookAtPosition(Vector3 lookAtPosition) { + solvers.lookAt.SetIKPosition(lookAtPosition); + } + + /// + /// Sets the spine %IK position. + /// + /// + /// Spine %IK position. + /// + public void SetSpinePosition(Vector3 spinePosition) { + solvers.spine.SetIKPosition(spinePosition); + } + + /// + /// Sets the spine weight. + /// + /// + /// Weight. + /// + public void SetSpineWeight(float weight) { + solvers.spine.SetIKPositionWeight(weight); + } + + /// + /// Gets the limb solver for the %IK Goal. + /// + /// + /// The solver. + /// + /// + /// %IK Goal. + /// + public IKSolverLimb GetGoalIK(AvatarIKGoal goal) { + switch(goal) { + case AvatarIKGoal.LeftFoot: return solvers.leftFoot; + case AvatarIKGoal.RightFoot: return solvers.rightFoot; + case AvatarIKGoal.LeftHand: return solvers.leftHand; + case AvatarIKGoal.RightHand: return solvers.rightHand; + } + return null; + } + + /// + /// (Re)Initiates the biped IK solvers. + /// + public void InitiateBipedIK() { + InitiateSolver(); + } + + /// + /// Updating BipedIK + /// + public void UpdateBipedIK() { + UpdateSolver(); + } + + /* + * Set default solver values. + * */ + public void SetToDefaults() { + // Limbs + foreach (IKSolverLimb limb in solvers.limbs) { + limb.SetIKPositionWeight(0f); + limb.SetIKRotationWeight(0f); + limb.bendModifier = IKSolverLimb.BendModifier.Animation; + limb.bendModifierWeight = 1f; + } + + solvers.leftHand.maintainRotationWeight = 0f; + solvers.rightHand.maintainRotationWeight = 0f; + + // Spine + solvers.spine.SetIKPositionWeight(0f); + solvers.spine.tolerance = 0f; + solvers.spine.maxIterations = 2; + solvers.spine.useRotationLimits = false; + + // Aim + solvers.aim.SetIKPositionWeight(0f); + solvers.aim.tolerance = 0f; + solvers.aim.maxIterations = 2; + + // LookAt + SetLookAtWeight(0f, 0.5f, 1f, 1f, 0.5f, 0.7f, 0.5f); + } + + #endregion Main Interface + + /* + * Fixes all the Transforms used by the solver to their default local states. + * */ + protected override void FixTransforms() { + solvers.pelvis.FixTransforms(); + solvers.lookAt.FixTransforms(); + for (int i = 0; i < solvers.limbs.Length; i++) solvers.limbs[i].FixTransforms(); + } + + /* + * Initiates the %IK solver + * */ + protected override void InitiateSolver() { + string message = ""; + if (BipedReferences.SetupError(references, ref message)) { + Warning.Log(message, references.root, false); + return; + } + solvers.AssignReferences(references); + + // Initiating solvers + if (solvers.spine.bones.Length > 1) solvers.spine.Initiate(transform); + solvers.lookAt.Initiate(transform); + solvers.aim.Initiate(transform); + foreach (IKSolverLimb limb in solvers.limbs) limb.Initiate(transform); + + // Initiating constraints + solvers.pelvis.Initiate(references.pelvis); + } + + /* + * Updates the solvers. If you need full control of the execution order of your IK solvers, disable this script and call UpdateSolver() instead. + * */ + protected override void UpdateSolver() { + // Storing Limb bend and rotation before %IK + for (int i = 0; i < solvers.limbs.Length; i++) { + solvers.limbs[i].MaintainBend(); + solvers.limbs[i].MaintainRotation(); + } + + // Updating constraints + solvers.pelvis.Update(); + + // Updating %IK solvers + if (solvers.spine.bones.Length > 1) solvers.spine.Update(); + solvers.aim.Update(); + solvers.lookAt.Update(); + for (int i = 0; i < solvers.limbs.Length; i++) solvers.limbs[i].Update(); + } + + /// + /// Logs the warning if no other warning has beed logged in this session. + /// + public void LogWarning(string message) { + Warning.Log(message, transform); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs.meta new file mode 100644 index 00000000..32ededd1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIK.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 6d406d8b892f54ccaa5b0ef4de59944a +labels: +- InverseKinematics +- IK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9998 + icon: {fileID: 2800000, guid: 2631a18e2dd7844718dea7db8ecf6c03, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs new file mode 100644 index 00000000..5ab6c888 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs @@ -0,0 +1,89 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// BipedIK solver collection. + /// + [System.Serializable] + public class BipedIKSolvers { + /// + /// The left foot + /// + public IKSolverLimb leftFoot = new IKSolverLimb(AvatarIKGoal.LeftFoot); + /// + /// The right foot. + /// + public IKSolverLimb rightFoot = new IKSolverLimb(AvatarIKGoal.RightFoot); + /// + /// The left hand. + /// + public IKSolverLimb leftHand = new IKSolverLimb(AvatarIKGoal.LeftHand); + /// + /// The right hand. + /// + public IKSolverLimb rightHand = new IKSolverLimb(AvatarIKGoal.RightHand); + /// + /// The spine. + /// + public IKSolverFABRIK spine = new IKSolverFABRIK(); + /// + /// The Look At %IK. + /// + public IKSolverLookAt lookAt = new IKSolverLookAt(); + /// + /// The Aim %IK. Rotates the spine to aim a transform's forward towards the target. + /// + public IKSolverAim aim = new IKSolverAim(); + /// + /// %Constraints for manipulating the character's pelvis. + /// + public Constraints pelvis = new Constraints(); + + /// + /// Gets the array containing all the limbs. + /// + public IKSolverLimb[] limbs { + get { + if (_limbs == null || (_limbs != null && _limbs.Length != 4)) _limbs = new IKSolverLimb[4] { leftFoot, rightFoot, leftHand, rightHand }; + return _limbs; + } + } + private IKSolverLimb[] _limbs; + + /// + /// Gets the array containing all %IK solvers. + /// + public IKSolver[] ikSolvers { + get { + if (_ikSolvers == null || (_ikSolvers != null && _ikSolvers.Length != 7)) _ikSolvers = new IKSolver[7] { leftFoot, rightFoot, leftHand, rightHand, spine, lookAt, aim }; + return _ikSolvers; + } + } + private IKSolver[] _ikSolvers; + + public void AssignReferences(BipedReferences references) { + // Assigning limbs from references + leftHand.SetChain(references.leftUpperArm, references.leftForearm, references.leftHand, references.root); + rightHand.SetChain(references.rightUpperArm, references.rightForearm, references.rightHand, references.root); + leftFoot.SetChain(references.leftThigh, references.leftCalf, references.leftFoot, references.root); + rightFoot.SetChain(references.rightThigh, references.rightCalf, references.rightFoot, references.root); + + // Assigning spine bones from references + spine.SetChain(references.spine, references.root); + + // Assigning lookAt bones from references + lookAt.SetChain(references.spine, references.head, references.eyes, references.root); + + // Assigning Aim bones from references + aim.SetChain(references.spine, references.root); + + leftFoot.goal = AvatarIKGoal.LeftFoot; + rightFoot.goal = AvatarIKGoal.RightFoot; + leftHand.goal = AvatarIKGoal.LeftHand; + rightHand.goal = AvatarIKGoal.RightHand; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs.meta new file mode 100644 index 00000000..178aa518 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/BipedIK/BipedIKSolvers.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 552b6be99351d42019784667c84a7d5a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints.meta new file mode 100644 index 00000000..80e4b5cf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 230c114522f924447be695b657911302 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs new file mode 100644 index 00000000..dac28b76 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs @@ -0,0 +1,42 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// The base abstract class for all Transform constraints. + /// + [System.Serializable] + public abstract class Constraint { + + #region Main Interface + + /// + /// The transform to constrain. + /// + public Transform transform; + /// + /// %Constraint weight. + /// + public float weight; + + /// + /// Gets a value indicating whether this is valid. + /// + /// + /// true if is valid; otherwise, false. + /// + public bool isValid { + get { + return transform != null; + } + } + + /// + /// Updates the constraint. + /// + public abstract void UpdateConstraint(); + + #endregion Main Interface + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs.meta new file mode 100644 index 00000000..1e19a6cc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraint.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c7e377232abb249ed8b4ef7d7ae933e7 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs new file mode 100644 index 00000000..0eac0231 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs @@ -0,0 +1,34 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// %Constraints to position in world space. + /// + [System.Serializable] + public class ConstraintPosition : Constraint { + + #region Main Interface + + /// + /// The target position. + /// + public Vector3 position; + + public override void UpdateConstraint() { + if (weight <= 0) return; + if (!isValid) return; + + // Lerping to position + transform.position = Vector3.Lerp(transform.position, position, weight); + } + + #endregion Main Interface + + public ConstraintPosition() {} + public ConstraintPosition(Transform transform) { + this.transform = transform; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs.meta new file mode 100644 index 00000000..b9b11f5e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPosition.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 071793b8887c44ddda2d9dc3a0525167 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs new file mode 100644 index 00000000..55b21dc8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs @@ -0,0 +1,64 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Offsets the transform from its (animated) position. + /// + [System.Serializable] + public class ConstraintPositionOffset : Constraint { + + #region Main Interface + + /// + /// The position offset in world space. + /// + public Vector3 offset; + + public override void UpdateConstraint() { + if (weight <= 0) return; + if (!isValid) return; + + // Initiating + if (!initiated) { + // Storing default values + defaultLocalPosition = transform.localPosition; + lastLocalPosition = transform.localPosition; + + initiated = true; + } + + // Check if position has changed. If true, set default local position to current. + if (positionChanged) defaultLocalPosition = transform.localPosition; + + // Offsetting the position + transform.localPosition = defaultLocalPosition; + transform.position += offset * weight; + + // Store the current local position to check if it has changed in the next update. + lastLocalPosition = transform.localPosition; + } + + #endregion Main Interface + + public ConstraintPositionOffset() {} + + public ConstraintPositionOffset(Transform transform) { + this.transform = transform; + } + + private Vector3 defaultLocalPosition, lastLocalPosition; + private bool initiated; + + /* + * Check if position has been changed by animation or any other external script. + * If not, consider the object to be static and offset only from the default rotation. + * */ + private bool positionChanged { + get { + return transform.localPosition != lastLocalPosition; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs.meta new file mode 100644 index 00000000..c5118787 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintPositionOffset.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e2d9a3e673645474bb6716a1c403e3b1 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs new file mode 100644 index 00000000..10fcc317 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs @@ -0,0 +1,34 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// %Constraints to rotation in world space + /// + [System.Serializable] + public class ConstraintRotation : Constraint { + + #region Main Interface + + /// + /// The target rotation. + /// + public Quaternion rotation; + + public override void UpdateConstraint() { + if (weight <= 0) return; + if (!isValid) return; + + // Slerping to target rotation + transform.rotation = Quaternion.Slerp(transform.rotation, rotation, weight); + } + + #endregion Main Interface + + public ConstraintRotation() {} + public ConstraintRotation(Transform transform) { + this.transform = transform; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs.meta new file mode 100644 index 00000000..44e95256 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotation.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a47eb259ef1b9403599c08fb1e457fcc +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs new file mode 100644 index 00000000..a4d8b801 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs @@ -0,0 +1,64 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Offsets the transform from its (animated) rotation + /// + [System.Serializable] + public class ConstraintRotationOffset: Constraint { + + #region Main Interface + + /// + /// The rotation offset in world space. + /// + public Quaternion offset; + + public override void UpdateConstraint() { + if (weight <= 0) return; + if (!isValid) return; + + // Initiating + if (!initiated) { + // Storing default rotations. + defaultLocalRotation = transform.localRotation; + lastLocalRotation = transform.localRotation; + + initiated = true; + } + + // Check if rotation has changed. If true, set default local rotation to current. + if (rotationChanged) defaultLocalRotation = transform.localRotation; + + // Offsetting the rotation + transform.localRotation = defaultLocalRotation; + transform.rotation = Quaternion.Slerp(transform.rotation, offset, weight); + + // Store the current local rotation to check if it has changed in the next update. + lastLocalRotation = transform.localRotation; + } + + #endregion Main Interface + + public ConstraintRotationOffset() {} + public ConstraintRotationOffset(Transform transform) { + this.transform = transform; + } + + private Quaternion defaultRotation, defaultLocalRotation, lastLocalRotation, defaultTargetLocalRotation; + private bool initiated; + + /* + * Check if rotation has been changed by animation or any other external script. + * If not, consider the object to be static and offset only from the default rotation. + * */ + private bool rotationChanged { + get { + return transform.localRotation != lastLocalRotation; + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs.meta new file mode 100644 index 00000000..048f1c67 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/ConstraintRotationOffset.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 530e73d7a55ff47029c43502e289273f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs new file mode 100644 index 00000000..62f826b0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs @@ -0,0 +1,95 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Contains and manages a set of constraints. + /// + [System.Serializable] + public class Constraints { + + #region Main Interface + + /// + /// The transform. + /// + public Transform transform; + /// + /// The target. + /// + public Transform target; + /// + /// The position offset. + /// + public Vector3 positionOffset; + /// + /// The position to lerp to by positionWeight + /// + public Vector3 position; + /// + /// The weight of lerping to position + /// + [Range(0f, 1f)] + public float positionWeight; + /// + /// The rotation offset. + /// + public Vector3 rotationOffset; + /// + /// The rotation to slerp to by rotationWeight + /// + public Vector3 rotation; + /// + /// The weight of slerping to rotation + /// + [Range(0f, 1f)] + public float rotationWeight; + + private Vector3 defaultLocalPosition; + private Quaternion defaultLocalRotation; + + /// + /// Determines whether this instance is valid. + /// + public bool IsValid() { + return transform != null; + } + + /// + /// Initiate to the specified transform. + /// + public void Initiate(Transform transform) { + this.transform = transform; + this.position = transform.position; + this.rotation = transform.eulerAngles; + defaultLocalPosition = transform.localPosition; + defaultLocalRotation = transform.localRotation; + } + + public void FixTransforms() + { + transform.localPosition = defaultLocalPosition; + transform.localRotation = defaultLocalRotation; + } + + /// + /// Updates the constraints. + /// + public void Update() { + if (!IsValid()) return; + + // Position + if (target != null) position = target.position; + transform.position += positionOffset; + if (positionWeight > 0f) transform.position = Vector3.Lerp(transform.position, position, positionWeight); + + // Rotation + if (target != null) rotation = target.eulerAngles; + transform.rotation = Quaternion.Euler(rotationOffset) * transform.rotation; + if (rotationWeight > 0f) transform.rotation = Quaternion.Slerp(transform.rotation, Quaternion.Euler(rotation), rotationWeight); + } + + #endregion Main Interface + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs.meta new file mode 100644 index 00000000..0e18559b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Constraints/Constraints.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 11679c68b0e4448338c1e21138a3596a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs new file mode 100644 index 00000000..c94fd111 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs @@ -0,0 +1,1859 @@ +/*! \mainpage + \image html FABRIK.png + + Welcome to Final %IK, the ultimate collection of inverse kinematics solutions for Unity. + +\section contains Final IK Contains + + - Full Body %IK system for biped characters + - VRIK - High speed full body solver dedicated to Virtual Reality avatars. + - Baker - tool for baking your IK procedures, animation adjustments, Timeline and Mecanim layers to Humanoid, Generic or Legacy animation clips + - Biped %IK - alternate to Unity's built-in Avatar %IK system that provides more flexibility and works in Unity Free with the same API + - CCD (Cyclic Coordinate Descent) %IK + - Multi-effector %FABRIK (Forward and Backward Reaching %IK) + - LookAt %IK - look-at solver for bipeds + - Aim %IK - for aiming weapons, looking at objects + - Limb %IK - 3 joint solver for arms and legs + - Arm IK - 4 joint solver for the arms + - Leg IK - 4 joint solver for the legs + - Rotation constraints - Angular, Polygonal (Reach Cone), Spline and Hinge rotation limits that work with CCD, %FABRIK and Aim solvers + - Interaction System - simple tool for creating procedural IK interactions + - Grounder - automatic vertical foot placement and alignment correction system + - CCDIKJ, AimIKJ - Multithreaded solvers based on AnimationJobs + +\section technicaloverview Technical Overview + + - Full source code included + - Does NOT require Unity Pro + - Does NOT require, but works with Mecanim + - Written in C#, all scripts are namespaced under %RootMotion and %RootMotion.FinalIK to avoid any naming conflicts with Your existing assets + - Tested on Standalone, Web Player, IOS, Android and VR + - Custom undoable inspectors and scene view handles + - Warning system to safeguard from null references and invalid setups (will not overflow your console with warnings) + - Optimized for great performance + - Modular, easily extendable. Compose your own custom character rigs + - User manual, HTML documentation, fully documented code, YouTube video tutorials + - Demo scenes and example scripts for all components + - Tested on a wide range of characters + +*/ + +/*! \page page1 Aim IK + * AimIK solver is a modification of the CCD algorithm that rotates a hierarchy of bones to make a child Transform of that hierarchy aim at a target. + It differs from the basic built-in Animator.SetLookAtPosition or the LookAtIK functionality, because it is able to accurately aim transforms that are not aligned to the main axis of the hierarchy. + + AimIK can produce very stabile and natural looking retargeting of character animation, it hence has great potential for use in weapon aiming systems. With AimIK we are able to offset a single forward aiming pose or animation to aim at targets even almost behind the character. + It is only the Quaternion singularity point at 180 degrees offset, where the solver can not know which way to turn the spine. Just like LookAtIK, AimIK provides a clampWeight property to avoid problems with that singularity issue. + + AimIK also works with rotation limits, however it is more prone to get jammed than other constrained solvers, should the chain be heavily constrained. + + Aim provides high accuracy at a very good speed, still it is necessary to keep in mind to maintain the target position at a safe distance from the aiming Transform. + If distance to the target position is less than distance to the aiming Transform, the solver will try to roll in on itself and might be unable to produce a finite result. + +\image html AimIK.png "The AimIK solver in action" + +
+

Getting started:

+ +\htmlonly \endhtmlonly + - Set up your character's Animator/Animation to play an aiming forward animation/pose + - Add the AimIK component to your character + - Assign the spine bones to "Bones" in the component, one by one in descending order (parents first). + - Assign the Aim Transform (the Transform that you want to aim at the target). It could be the gun, the hand bone or just an empty game object parented to the hand + - Make sure Axis represents the local axis of the Aim Transform that you want to be aimed at the target. For example if the blue (z) axis of a gun is pointing towards its barrel, you will need to set Axis to (0, 0, 1). + - Set weight to 1, press Play + - Move the target handle around in Scene View to see how AimIK behaves + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - target - the target Transform. If assigned, solver IKPosition will be automatically set to the position of the target. + - poleTarget - if assigned, will automatically set polePosition to the position of this Transform. IKSolverAim.polePosition keeps another axis (poleAxis) of the Aim Transform oriented towards IKSolverAim.polePosition. + - transform - (Aim Transform) the Transform that we want to aim at the IKPosition (usually the gun or the flashlight, represented as the pink cone on the image above). + - axis - the local axis of the Aim Transform that you want to be aimed at the IKPosition. For example if the blue (z) axis of a gun is pointing towards its barrel, you will need to set Axis to (0, 0, 1). + - poleAxis - the local axis of the Aim Transform that you want to keep oriented towards IKSolverAim.polePosition + - weight - the solver weight for smoothly blending out the effect of the IK + - poleWeight - the weight of keeping the poleAxis of the AimTransform oriented towards polePosition. + - tolerance - minimum offset from last reached angle. Will stop solving if difference from previous reached angle is less than tolerance. If tolerance is zero, will iterate until maxIterations. + - maxIterations - max iterations per frame. If tolerance is 0, will always iterate until maxIterations + - clampWeight - clamping rotation of the solver. 0 is free rotation, 1 is completely clamped to zero effect + - clampSmoothing - the number of sine smoothing iterations applied to clamping to make it smoother. + - bones - bones used by the solver to orient the Aim Transform to the target. All bones need to be direct ancestors of the Aim Transform and sorted in descending order. + You can skip bones in the hierarchy and the Aim Transform itself can also be included. The bone hierarchy can not be branched, meaning you cant assing bones from both hands. Bone weight determines how strongly it is used in bending the hierarchy + +\image html AimIKComponent.png + +
+

Script References:

+ - Solver + - Component + +
+

Changing the aiming target:

+ +\code + public AimIK aimIK; + + void LateUpdate () { + aimIK.solver.IKPosition = something; + } +\endcode + +
+

Using the Pole:

+ +The polePosition can be helpful when making weapon aiming setups. Let's say we have a gun that's local Z axis is facing towards its barrel and local Y axis is facing up. +In this case we have to set AimIK "Axis" to (0, 0, 1) and "Pole Axis" to (0, 1, 0). If we now play the scene and set "Weight" and "Pole Weight" to 1, we will have 2 handles, +one for the aiming target and the other for twisting the gun and the body of the character. + +Adjusting the Pole by script: + +\code + public AimIK aimIK; + + void LateUpdate () { + aimIK.solver.polePosition = something; + aimIK.solver.poleWeight = 1f; + } +\endcode + +
+

Changing the Aim Transform:

+ +\code + public AimIK aimIK; + + void LateUpdate () { + aimIK.solver.transform = something; + aimIK.solver.axis = localAxisOfTheTransformToAimAtTheTarget; + } +\endcode + +
+

Adding AimIK in runtime:

+ - Add the AimIK component via script + - Call AimIK.solver.SetChain() + +
+

Changing AimIK bone hierarchy in runtime:

+\code +public AimIK aimIK; + +public Transform[] newBones; + +void Change() { + aimIK.solver.SetChain(newBones, aim.transform); +} +\endcode + +
+

Using AimIK with Rotation Limits:

+It is sometimes necessary to limit the effect of AimIK on one of the bones in its chain. +Usually when you wish to use the elbow joint in the process of aiming a single handed weapon or when you wish to limit the rotation of a spine bone to twisting only. +If you just added the RotationLimit component to the bone, it would also interfere with the animation (keep the spine stiff), not just the IK. +You can make the RotationLimit only have an effect on the AimIK by defaulting its rotation each frame before AimIK solves: + +\code +public AimIK aimIK; + +void LateUpdate() { + // Set current animated localRotation as default local rotation for the rotation limits so they will not interfere with the animation, but only the IK + for (int i = 0; i < aimIK.solver.bones.Length; i++) { + if (aimIK.solver.bones[i].rotationLimit != null) { + aimIK.solver.bones[i].rotationLimit.SetDefaultLocalRotation(); + } + } +} +\endcode + +Please note that each RotationLimit decreases the probability of the solver smoothly reaching its target. +
Since FinalIK 0.4 introduced the polePosition and poleWeight, using Rotation Limits on characters can in most cases be avoided by using the pole to keep the body upright. + +
+

Bone weights

+Each bone in the "Bones" has a weight parameter. It determines how much proportionally is a bone used in the solving process. +Fox example if you do not wish a certain spine bone to bend too much, you can just decrease its weight. + +
+

Aiming 2-handed weapons:

+When aiming 2-handed weapons, we can use only the spine bones (common parents for both hands) in the AimIK bone hierarchy. If we used the arm bones, the other hand would lose contact with the object. +Sometimes using just the spine bones is not enough though, as the spine would bend exessively and the character would end up in unnatural poses. We can solve this problem, by adding some of the arm bones (the arm that is holding the object) to AimIK and +then use FullBodyBipedIK or LimbIK to put the other hand back on its place after AimIK is done. Take a look at this tutorial video to see how it could be done. + +
+

Redirecting animation:

+AimIK is perfect for keeping objects steadily aimed at the target. Sometimes those objects have a lot of swinging motion in the animation, like swinging a sword for example, +and it is not good to use AimIK to keep the sword oriented at a certain position during that swing. It would keep the sword orientation fixed by bending the rest of the hierarchy and that would interfere with the animation in an unwanted way. +It is still possible to use AimIK to redirect swinging animations like swordplay or punching, take a look at this tutorial video to see how it could be done. + +
+

Recoil/reload animations while aiming:

+While AimIK weight is 1, the solver will maintain the weapon oriented at the target at all times. This might not be the desired behaviour while playing a recoil or reloading animation. +We can dynamically change the Axis of AimIK to overcome this issue. + +\code +void LateUpdate() { + aimIK.solver.axis = aimIK.solver.transform.InverseTransformDirection(character.forward); +} +\endcode + +That line is telling AimIK that whatever the direction of the weapon in the animation, it is the default forward aiming direction. +"Character.forward" is the direction that the weapon is aimed at (keep it in character space so the effect rotates with the character) in the normal aiming animation without any recoil, so If you were currently playing an "aim right" animation, you should set it to "character.right" instead. +*/ + +/*! \page page2 Arm IK +ArmIK is a wrapper component for VRIK's 4-joint biped arm solver. + +
+

Component variables:

+ - ArmIK.fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance. + +
+

Wrapper variables:

+ - ArmIK.solver.chest - the last spine bone, that the arm bones must be parented to. + - ArmIK.solver.shoulder - the shoulder bone. + - ArmIK.solver.upperArm - the upper arm bone. + - ArmIK.solver.forearm - the forearm bone + - ArmIK.solver.hand - the hand bone. + - ArmIK.solver.IKPositionWeight - positional weight of the hand target. Note that if you have nulled the target, the hand will still be pulled to the last position of the target until you set this value to 0. + - ArmIK.solver.IKRotationWeight - rotational weight of the hand target. Note that if you have nulled the target, the hand will still be rotated to the last rotation of the target until you set this value to 0. + +
+

Solver variables:

+ - ArmIK.solver.arm.target - the hand target. This should not be the hand controller itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the hand bone. The best practice for setup would be to move the hand controller to the avatar's hand as it it was held by the avatar, duplicate the avatar's hand bone and parent it to the hand controller. Then assign the duplicate to this slot. + - ArmIK.solver.arm.bendGoal - the elbow will be bent towards this Transform if 'Bend Goal Weight' > 0. + - ArmIK.solver.arm.shoulderRotationMode - different techniques for shoulder bone rotation. + - ArmIK.solver.arm.shoulderRotationWeight - the weight of shoulder rotation. + - ArmIK.solver.arm.shoulderTwistWeight - the weight of twisting the shoulders backwards when arms are lifted up. + - ArmIK.solver.arm.bendGoalWeight - if greater than 0, will bend the elbow towards the 'Bend Goal' Transform. + - ArmIK.solver.arm.swivelOffset - angular offset of the elbow bending direction. + - ArmIK.solver.arm.wristToPalmAxis - local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation. If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select "Guess Hand Orientations" from the context menu. + - ArmIK.solver.arm.palmToThumbAxis - local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu.. + - ArmIK.solver.arm.armLengthMlp - use this to make the arm shorter/longer. Works by displacement of hand and forearm localPosition. + - ArmIK.solver.arm.stretchCurve - evaluates stretching of the arm by target distance relative to arm length. Value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + +\image html ArmIKComponent.png + +
+

Script References:

+ - Solver + - Component +*/ + +/*! \page page3 Baker +Baker is a universal tool for recording Humanoid, Generic and Legacy animation clips. Baker.cs is an abstract base class extended by HumanoidBaker.cs and GenericBaker.cs. +
+Baker allows you to: + - Edit animation clips + - bake IK into animation + - combine animation layers + - bake InteractionSystem interactions + - bake ragdoll physics + - blend ragdoll physics with animation (PuppetMaster) + - bake Timeline + - fix Humanoid retargeting problems (hand, foot positions) + - bake outsourced Humanoid animation to specific character model to avoid using Foot IK for performance + - bake motion capture + - reduce animation memory footprint with Baker's advanced keyframe reduction tools + +
+

Getting started:

+ +\htmlonly \endhtmlonly + - Add the HumanoidBaker or GenericBaker component to the same GameObject as your character's Animator. + - Click on the button beneath "Save To Folder" to choose a folder for the baked animation clips. + - Play the scene. + - Click on the bake button. + +
+

Animation Clips Mode

+AnimationClips mode can be used to bake a batch of AnimationClips directly without the need of setting up an AnimatorController. +
Set the Baker to "Animation Clips" mode and add some animation clips to the "Animation Clips" array. "Append Name" is a string that will be added to each clip's name for the saved clip. For example if your animation clip names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips. + +
+

Animation States Mode

+AnimationStates mode can be used to bake a batch of Mecanim Animation States. This is useful for when you need to set up a more complex rig with layers and AvatarMasks in Mecanim. +
Set the Baker to "Animation States" mode and add the Animation State names (only from the base layer) you wish to bake to the "Animation States" array. "Append Name" is a string that will be added to each state's name for the saved clip. For example if your animation state names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips. + +
+

Playable Director Mode

+Bakes a PlayableDirector with a Timeline asset. Set the Baker to "Playable Director" mode and make sure the GameObject has a valid PlayableDirector. + +
+

Realtime Mode

+Useful for baking an arbitrary range of animation, such as ragdoll simulation or an InteractionSystem interaction, in real-time. + +\code +using RootMotion; + +public class MyBakingTool { + + public Baker baker; + public float bakeDuration = 5f; + + void Start() + { + baker.mode = Baker.Mode.Realtime; + StartCoroutine(BakeDuration(bakeDuration)); + } + + private IEnumerator BakeDuration(float duration) + { + baker.StartBaking(); + + yield return new WaitForSeconds(duration); + baker.StopBaking(); + } +} +\endcode + +
+

Keyframe Reduction

+While developing a mobile game and running low on RAM, the quality of your animation will suffer a lot should you try to increase the keyframe reduction error thresholds in animation import settings. +The most noticable problem will be with the feet starting to float around in idle animations as there are not enough keyframes to make them appear properly planted. Idle animations are also usually the longest and most memory consuming. +Unity actually already contains a solution for this problem, but it is simply not implemented in the keyframe reduction options. That solution is the humanoid "Foot IK" system ("Foot IK" toggle in the Animator, previewable by enabling the "IK" toggle in the Animation Preview Window), that is normally used for fixing Humanoid retargeting problems. +Foot IK works by storing position and rotation channels of the foot bottoms from the original animation clip, then running a pass of IK on the legs of the retargeted character (that has different leg bone lenghts) to properly plant the feet. +Unity keyfame reduction options do not allow you to define different parameters for those IK curves and so they will be reduced just the same as the muscle channels, causing the feet to float even while having "Foot IK" enabled. + + +Baker allows you define "Key Reduction Error" and "IK Key Reduction Error" separately, hence apply extreme key reduction to muscle channels that take most of the memory while maintaining normal reduction for the IK channels. +It also allows you to bake muscle channels at a lower frame rate than the IK channels by increasing the value of "Muscle Frame Rate Div". Those options can help you achieve better animation quality for a memory cost that is multiple times lower. +The same technique can be used for hand IK, making sure your 2-handed prop animations do not suffer from keyframe reduction. + +\htmlonly \endhtmlonly + +
+

Changing AnimationClipSettings

+When you first bake an animation clip, Baker will apply the default settings. If you modified the settings of the animation clip manually and baked again, Baker will maintain those modified settings so you will not have to apply them again. + +
+

HumanoidBaker variables

+ - frameRate - in AnimationClips, AnimationStates or PlayableDirector mode - the frame rate at which the animation clip will be sampled. In Realtime mode - the frame rate at which the pose will be sampled. With the latter, the frame rate is not guaranteed if the player is not able to reach it. + - keyReductionError - maximum allowed error for keyframe reduction. + - IKKeyReductionError - max keyframe reduction error for the Root.Q/T, LeftFoot IK and RightFoot IK channels. Having a larger error value for 'Key Reduction Error' and a smaller one for this enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator. + - muscleFrameRateDiv - frame rate divider for the muscle curves. If you had 'Frame Rate' set to 30, and this value set to 3, the muscle curves will be baked at 10 fps. Only the Root Q/T and Hand and Foot IK curves will be baked at 30. This enables you to optimize clip data size without the floating feet effect by enabling 'Foot IK' in the Animator. + - bakeHandIK - should the hand IK curves be added to the animation? Disable this if the original hand positions are not important when using the clip on another character via Humanoid retargeting. + - mode - AnimationClips mode can be used to bake a batch of AnimationClips directly without the need of setting up an AnimatorController. AnimationStates mode is useful for when you need to set up a more complex rig with layers and AvatarMasks in Mecanim. PlayableDirector mode bakes a Timeline. Realtime mode is for continuous baking of gameplay, ragdoll phsysics or PuppetMaster dynamics. + - loop - sets the baked animation clip to loop time and matches the last frame keys with the first. Note that when overwriting a previously baked clip, AnimationClipSettings will be copied from the existing clip. + - animationClips - AnimationClips to bake. + - animationStates - the name of the AnimationStates (must be on the base layer) to bake in the Animator (Right-click on this component header and select 'Find Animation States' to have Baker fill those in automatically, required that state names match with the names of the clips used in them). + - appendName - string that will be added to each clip or animation state name for the saved clip. For example if your animation state/clip names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips. + - saveToFolder - the folder to save the baked AnimationClips to. + +\image html HumanoidBakerComponent.png + +
+

GenericBaker variables

+ - frameRate - in AnimationClips, AnimationStates or PlayableDirector mode - the frame rate at which the animation clip will be sampled. In Realtime mode - the frame rate at which the pose will be sampled. With the latter, the frame rate is not guaranteed if the player is not able to reach it. + - keyReductionError - maximum allowed error for keyframe reduction. + - markAsLegacy - if true, produced AnimationClips will be marked as Legacy and usable with the Legacy animation system. + - root - root Transform of the hierarchy to bake. + - rootNode - root node used for root motion. + - ignoreList - list of Transforms to ignore, rotation curves will not be baked for these Transforms. + - bakePositionList - localPosition curves will be baked for these Transforms only. If you are baking a character, the pelvis bone should be added to this array. + - mode - AnimationClips mode can be used to bake a batch of AnimationClips directly without the need of setting up an AnimatorController. AnimationStates mode is useful for when you need to set up a more complex rig with layers and AvatarMasks in Mecanim. PlayableDirector mode bakes a Timeline. Realtime mode is for continuous baking of gameplay, ragdoll phsysics or PuppetMaster dynamics. + - loop - sets the baked animation clip to loop time and matches the last frame keys with the first. Note that if you are overwriting a previously baked clip, AnimationClipSettings will be copied from the existing clip. + - animationClips - AnimationClips to bake. + - animationStates - the name of the AnimationStates (must be on the base layer) to bake in the Animator (Right-click on this component header and select 'Find Animation States' to have Baker fill those in automatically, required that state names match with the names of the clips used in them). + - appendName - string that will be added to each clip or animation state name for the saved clip. For example if your animation state/clip names were 'Idle' and 'Walk', then with '_Baked' as Append Name, the Baker will create 'Idle_Baked' and 'Walk_Baked' animation clips. + - saveToFolder - the folder to save the baked AnimationClips to. + +\image html GenericBakerComponent.png + +
+

Script References:

+ - HumanoidBaker + - GenericBaker +*/ + +/*! \page page4 Biped IK + +%IK system for standard biped characters that is designed to replicate and enhance the behaviour of the Unity's built-in character %IK setup. + +BipedIK or FullBodyBipedIK? +
Originally the only benefit of BipedIK over FullBodyBipedIK was its much better performance. However, since FinalIK 0.4, we are able to set FBBIK solver iteration count to 0, in which case the full body effect will not be solved and it is almost as fast as BipedIK. +This allows for much easier optimization of IK on characters in the distance. Therefore, since 0.4, FullBodyBipedIK component is the recommended solution for solving biped characters. + +BipedIK or Unity's Animator %IK? +- Animator %IK does not allow the modifiaction of any of even the most basic solver parameters, such as limb bend direction, +which makes the system difficult, if not impossible to use or extend in slightly more advanced use cases. Even in the simplest of cases, Animator can produce unnatural poses or bend a limb in unwanted direction and there is nothing that can be done to work around the problem. +- Animator I%K lacks a spine solver. +- Animator's LookAt functionality can often solve to weird poses such as bending the spine backwards when looking over the shoulder. +- BipedIK also incorporates AimIK. +- BipedIK does NOT require Unity Pro. + +To simplify migration from Unity's built-in Animator %IK, BipedIK supports the same API, so you can just go from animator.SetIKPosition(...) to bipedIK.SetIKPosition(...). + +BipedIK, like any other component in the FinalIK package, goes out of its way to minimize the work required for set up. +BipedIK automatically detects the biped bones based on the bone structure of the character and the most common naming conventions, +so unless you have named your bones in Chinese, you should have BipedIK ready for work as soon as you can drop in the component. If BipedIK fails to recognize the bone references or you just want to change them, you can always manage the references from the inspector. + +\image html BipedIK.png + +
+

Getting started:

+- Add the BipedIK component to the root of your character (the same GameObject that has the Animator/Animation component) +- Make sure the auto-detected biped references are correct +- Press play, weigh in the solvers + +
+

Accessing the solvers of Biped IK:

+ +\code + public BipedIK bipedIK; + + void LateUpdate () { + bipedIK.solvers.leftFoot.IKPosition = something; + bipedIK.solvers.spine.IKPosition = something; + ... + } +\endcode + +
+

Adding BipedIK in runtime:

+- Add the BipedIK component via script +- Assign BipedIK.references +- Optionally call BipedIK.SetToDefaults() to set the parameters of the solvers to default BipedIK values. Otherwise default values of each solver are used. + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + - references - references to the character bones that BipedIK needs to build its solver. + +
+

Solver variables:

+ - Left Foot + - Right Foot + - Left Hand + - Right Hand + - Spine + - Aim + - Look At + - Pelvis - Pos Offset and Rot Offset can be used to offset the pelvis of the character from its animated position/rotation. Pos Weight and Rot Weight can be used to translate and rotate the pelvis to bipedIK.solvers.pelvis.position and bipedIK.solvers.pelvis.rotation. + + +\image html BipedIKComponent.png +*/ + +/*! \page page5 CCD IK +CCD (Cyclic Coordinate Descent) is one of the simplest and most popular inverse kinematics methods that has been extensively used in the computer games industry. The main idea behind the solver is to align one joint with the end effector and the target at a time, so that the last bone of the chain iteratively gets closer to the target. +CCD is very fast and reliable even with rotation limits applied. CCD tends to overemphasise the rotations of the bones closer to the target position (a very long CCD chain would just roll in around its target). Reducing bone weight down the hierarchy will compensate for this effect. +It is designed to handle serial chains, thus, it is difficult to extend to problems with multiple end effectors (in this case go with FABRIK). It also takes a lot of iterations to fully extend the chain. + +Monitoring and validating the %IK chain each frame would be expensive on the performance, therefore changing the bone hierarchy in runtime has to be done by calling SetChain (Transform[] hierarchy) on the solver. SetChain returns true if the hierarchy is valid. +CCD allows for direct editing of its bones' rotations (not by the scene view handles though), but not positions, meaning you can write a script that rotates the bones in a CCD chain each frame, but you should not try to change the bone positions like you can do with a FABRIK solver. +You can, however, rescale the bones at will, CCD does not care about bone lengths. + +
+

Getting started:

+ - Add the CCDIK component to the first GameObject in the chain + - Assign all the elements in the chain to "Bones" in the component. Parents first, bones can be skipped. + - Press Play, set weight to 1 + +
+

Changing the target position:

+ +\code + public CCDIK ccdIK; + + void LateUpdate () { + ccdIK.solver.IKPosition = something; + } +\endcode + +
+

Adding CCDIK in runtime:

+- Add the CCDIK component via script +- Call CCDIK.solver.SetChain() + +
+

Using CCD with Rotation Limits:

+Simply add a Rotation Limit component (RotationLimitAngle, RotationLimitHinge, RotationLimitPolygonal or RotationLimitSpline) to a bone that has been assigned to the "Bones" of the CCDIK component. +Note that each rotation limit decreases the stability and continuity of the solver. If CCDIK is unable to solve a highly constrained chain at certain target positions, it is most likely not a bug with FinalIK, +but a fundamental handicap of the CCD algorithm (remember, no IK algorithm is perfect). + +\image html CCD.png "CCD with rotation limits applied" + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - target - the target Transform. If assigned, solver IKPosition will be automatically set to the position of the target. + - weight - the solver weight for smoothly blending out the effect of the IK + - tolerance - minimum distance from last reached position. Will stop solving if difference from previous reached position is less than tolerance. If tolerance is zero, will iterate until maxIterations. + - maxIterations - max iterations per frame. If tolerance is 0, will always iterate until maxIterations + - useRotationLimits - if true, will use any RotationLimit component attached to the bones + - bones - bones used by the solver to reach to the target. All bones need to be sorted in descending order (parents first). Bones can be skipped in the hierarchy. The bone hierarchy can not be branched, meaning you cant assing bones from both hands. Bone weight determines how strongly it is used by the solver. + +\image html CCDComponent.png + +
+

Script References:

+ - Solver + - Component + +*/ + +/*! \page page6 FABRIK +Forward and Backward Reaching Inverse Kinematics solver based on the paper: +
"FABRIK: A fast, iterative solver for the inverse kinematics problem." +
Aristidou, A., Lasenby, J. Department of Engineering, University of Cambridge, Cambridge CB2 1PZ, UK. + +FABRIK is a heuristic solver that can be used with any number of bone segments and rotation limits. It is a method based on forward and backward iterative movements by finding a joint's new position along a line to the next joint. +FABRIK proposes to solve the %IK problem in position space, instead of the orientation space, therefore it demonstrates less continuity under orientation constraints than CCD, although certain modifications have been made to the constraining method described in the original paper to improve solver stability. +It generally takes less iterations to reach the target than CCD, but is slower per iteration especially with rotation limits applied. + +FABRIK is extremely flexible, it even allows for direct manipulation of the bone segments in the scene view and the solver will readapt. Bone lengths can also be changed in runtime. +Monitoring and validating the %IK chain each frame would be expensive on the performance, therefore changing the bone hierarchy in runtime has to be done by calling SetChain (Transform[] hierarchy) on the solver. SetChain returns true if the hierarchy is valid. + +
+

Getting started:

+ - Add the FABRIK component to the first GameObject in the chain + - Assign all the elements in the chain to "Bones" in the component + - Press Play, set weight to 1 + +
+

Changing the target position:

+ +\code + public FABRIK fabrik; + + void LateUpdate () { + fabrik.solver.IKPosition = something; + } +\endcode + +
+

Adding FABRIK in runtime:

+- Add the FABRIK component via script +- Call FABRIK.solver.SetChain() + +
+

Using FABRIK with Rotation Limits:

+Simply add a Rotation Limit component (RotationLimitAngle, RotationLimitHinge, RotationLimitPolygonal or RotationLimitSpline) to a bone that has been assigned to the "Bones" of the FABRIK component. +Note that each rotation limit decreases the stability and continuity of the solver. If FABRIK is unable to solve a highly constrained chain at certain target positions, it is most likely not a bug with FinalIK, +but a fundamental handicap of the FABRIK algorithm (remember, no IK algorithm is perfect). + +\image html FABRIK.png + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - target - the target Transform. If assigned, solver IKPosition will be automatically set to the position of the target. + - weight - the solver weight for smoothly blending out the effect of the IK + - tolerance - minimum distance from last reached position. Will stop solving if difference from previous reached position is less than tolerance. If tolerance is zero, will iterate until maxIterations. + - maxIterations - max iterations per frame. If tolerance is 0, will always iterate until maxIterations + - useRotationLimits - if true, will use any RotationLimit component attached to the bones + - bones - bones used by the solver to reach to the target. All bones need to be sorted in descending order (parents first). Bones can be skipped in the hierarchy. The bone hierarchy can not be branched, meaning you cant assing bones from both hands. Bone weight determines how strongly it is used by the solver. + +\image html FABRIKComponent.png + +
+

Script References:

+ - Solver + - Component + + +*/ + +/*! \page page7 FABRIK Root +Multi-effector FABRIK system. +
FABRIKRoot is a component that connects FABRIK chains together to form extremely complicated %IK systems with multiple branches, end-effectors and rotation limits. + +
+

Getting started:

+ - Create multiple FABRIK chains, position them as you want them to be connected. The chains don't have to be parented to each other + - Make sure the first bone of a child chain is in the same position as the last bone of its parent + - Create a new GameObject, add the FABRIKRoot component + - Add all the FABRIK chains to "Chains" in the FABRIKRoot component + - Press Play + +
+

Accessing the chains of FABRIKRoot:

+ +\code + public FABRIKRoot fabrikRoot; + + void LateUpdate () { + Debug.Log(fabrikRoot.solver.chains[index].ik.name); + } +\endcode + +
+

Limitations:

+- Separate FABRIK chains can not use the same bones, they must be fully independent +- The last bone of a FABRIK chain must be in the same position as its child chain's first bone + +\image html FABRIKRoot.png "FABRIK Root chain being pulled" + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - weight - the solver weight for smoothly blending out the effect of the IK + - iterations - max iterations per frame. + - rootPin - the weight of pinning the first chains to the Transform that the component is attached to + - chains - the list of FABRIK components used by this FABRIKRoot + +
+

Chain variables:

+ - IK - the FABRIK component used + - pull - parent pull weight. How much does this chain pull its parent? + - pin - resistance to being pulled by child chains. If 1, this chain can not be pulled out of place by its child chains + - children - indexes (of the "Chains" array) of the direct children of this chain. Don't add children of the children. + +\image html FABRIKRootComponent.png + +*/ + +/*! \page page8 Full Body Biped IK +Final %IK includes an extremely flexible and powerful high speed lightweight FBIK solver for biped characters. + +FullBodyBipedIK maps any biped character to a low resolution multi-effector IK rig, solves it, and maps the result back to the character. +This is done each frame in LateUpdate, after Mecanim/Legacy is done animating, so it is completely independent from the animating system. + +Chains: + Internally, each limb and the body are instances of the FBIKChain class. The root chain is the body, consisting of a single node, and the limbs are its children. + This setup forms the multi-effector IK tree around the root node. + +Nodes: + Nodes are members of the Chains. For instance, an Arm chain contains three nodes - upper arm, forearm and the hand. Each node maintains a reference to its bone (node.transform). + When the solver is processing or has finished, the solved position of the bone is stored in node.solverPosition. + +Effectors: + FullBodyBipedIK has three types of effectors - end-effectors (hands and feet), mid-body effectors (shoulders and thighs) and multi-effectors (the body). + End-effectors can be rotated while changing the rotation of mid-body and multi-effectors has no effect. Changing end-effector rotation also changes the bending direction of the limb (unless you are using bend goals to override it). + The body effector is a multi-effector, meaning it also drags along both thigh effectors (to simplify positioning of the body). + Effectors also have the positionOffset property that can be used to very easily manupulate with the underlaying animation. Effectors will reset their positionOffset to Vector3.zero after each solver update. + +Pulling, Reaching and Pushing: + Each chain has the "pull" property. When all chains have pull equal to 1, pull weight is distributed equally between the limbs. That means reaching all effectors is not quaranteed if they are very far from each other. + The result can be adjusted or improved by changing the "reach" parameter of the chain, increasing the solver iteration count or updating the solver more than once per frame. + However, when for instance the left arm chain has pull weight equal to 1 and all others have 0, you can pull the character from its left hand to Infinity without losing contact. + The Push and Push Parent values determine how much a limb transfers energy to its parent nodes when the target is in reach. Experiment with those values in the Scene view to get a better understanding of how they behave. + +Mapping: + IKSolverFullBodyBiped solves a very low resolution high speed armature. Your character probably has a lot more bones in its spine though, it might have twist bones in the arms and shoulder or hip bones and so on. Therefore, the solver needs to map the high resolution + skeleton to the low resolution solver skeleton before solving and vice versa after the solver has finished. There are 3 types of mappers - IKMappingSpine for mapping the pelvis and the spine, IKMappingLimb for the limbs (including the clavicle) and IKMappingBone for the head. + You can access them through IKSolverFullBody.spineMapping, IKSolverFullBody.limbMappings and IKSolverFullBody.boneMappings + +\image html FullBodyBipedIK.png "Retargeting a single punching animation with FullBodyBipedIK" + +Limitations: + - FullBodyBipedIK does not have effectors for the fingers and toes. Solving fingers with IK would be an overkill in most cases as there are only so few poses for the hands in a game. + Using 10 4-segment constrained CCD or FABRIK chains to position the fingers however is probably something you don't want to waste your precious milliseconds on. + See the Driving Rig demo to get an idea how to very quickly (and entirely in Unity) pose the fingers to an object. + - FullBodyBipedIK samples the initial pose of your character (in Start() and each time you re-initiate the solver) to find out which way the limbs should be bent. Hence the limitation - the limbs of the character at that moment should be bent in their natural directions. + Some characters however are in geometrically perfect T-Pose, meaning their limbs are completely straight. Some characters even have their limbs bent slightly in the inverse direction (some Mixamo rigs for example). + FullBodyBipedIK will alarm you should this problem occur. All you will have to do, is rotate the forearm or calf bones in the Scene view slightly in the direction they should be bent. + Since those rotations will be overwritten in play mode by animation anyway, you should not be afraid of messing up your character. + - FullBodyBipedIK does not have elbow/knee effectors. That might change in the future should there be a practical demand for them. Elbow and knee positions can still be modified though as bend goals are supported. + - Optimize Game Objects should be disabled or at least all the bones needed by the solver (FullBodyBipedIK.references) exposed. + - Additional bones in the limbs are supported as long as their animation is twisting only. If the additional bones have swing animation, like for example wing bones, FBBIK will not solve the limb correctly. + - FullBodyBipedIK does not rotate the shoulder bone when the character is pulled by the hand. It will maintain the shoulder bone rotation relative to the chest as it is in the animation. + In most cases, it is not a problem, but sometimes, especially when reaching for something above the head, having the shoulder bone rotate along would make it more realistic. + In this case you should either have an underlaying reach up (procedural) animation that rotates the shoulder bone or it can also be rotated via script before the IK solver reads the character's pose. + There is also a workaround script included in the demos, called ShoulderRotator, just add it to the FBBIK game object. + - When you move a limb end-effector and the effector rotation weight is 0, FBBIK will try to maintain the bending direction of the limb as it is animated. When the limb rotates close to 180 degrees from its animated direction, you will start experiencing rolling of the limb, meaning, the solver has no way to know at this point of singularity, which way to rotate the limb. + Therefore if you for example have a walking animation, where the hands are down and you want to use IK to grab something from directly above the head, you will have to take the inconvenience to also animate the effector rotation or use a bend goal, to make sure the arm does not roll backwards when close to 180 degrees of angular offset. + This is not a bug, it is a logical inevitability if we want to maintain the animated bending direction by default. + - FullBodyBipedIK considers all elbows and knees as 3 DOF joints with swing rotation constrained to the range of a hemisphere (Since 0.22, used to be 1 DOF). That allows for full accuracy mapping of all biped rigs, the only known limitation is that the limbs can't be inverted (broken from the knee/elbow). + +
+

Getting started:

+ +\htmlonly \endhtmlonly +\htmlonly \endhtmlonly + - Add the FullBodyBipedIK component to the root of your character (the same GameObject that has the Animator/Animation component) + - Make sure the auto-detected biped references are correct + - Make sure the Root Node was correctly detected. It should be one of the bones in the lower spine. + - Take a look at the character in the scene view, make sure you see the FullBodyBipedIK armature on top the character. + - Press Play, weigh in the effectors + +
+

Accessing the Effectors:

+ +\code + public FullBodyBipedIK ik; + + void LateUpdate () { + ik.solver.leftHandEffector.position = something; // Set the left hand effector position to a point in world space. This has no effect if the effector's positionWeight is 0. + ik.solver.leftHandEffector.rotation = something; // Set the left hand effector rotation to a point in world space. This has no effect if the effector's rotationWeight is 0. + ik.solver.leftHandEffector.positionWeight = 1f; // Weighing in the effector position, the left hand will be pinned to ik.solver.leftHandEffector.position. + + // Weighing in the effector rotation, the left hand and the arm will be pinned to ik.solver.leftHandEffector.rotation. + // Note that if you only wanted to rotate the hand, but not change the arm bending, + // it is better to just rotate the hand bone after FBBIK has finished updating (use the OnPostUpdate delegate). + ik.solver.leftHandEffector.rotationWeight = 1f; + + // Offsets the hand from its animated position. If effector positionWeight is 1, this has no effect. + // Note that the effectors will reset their positionOffset to Vector3.zero after each update, so you can (and should) use them additively. + //This enables you to easily edit the value by more than one script. + ik.solver.leftHandEffector.positionOffset += something; + + //The effector mode is for changing the way the limb behaves when not weighed in. + //Free means the node is completely at the mercy of the solver. + //(If you have problems with smoothness, try changing the effector mode of the hands to MaintainAnimatedPosition or MaintainRelativePosition + + //MaintainAnimatedPosition resets the node to the bone's animated position in each internal solver iteration. + //This is most useful for the feet, because normally you need them where they are animated. + + //MaintainRelativePositionWeight maintains the limb's position relative to the chest for the arms and hips for the legs. + // So if you pull the character from the left hand, the right arm will rotate along with the chest. + //Normally you would not want to use this behaviour for the legs. + ik.solver.leftHandEffector.maintainRelativePositionWeight = 1f; + + // The body effector is a multi-effector, meaning it also manipulates with other nodes in the solver, namely the left thigh and the right thigh + // so you could move the body effector around and the thigh bones with it. If we set effectChildNodes to false, the thigh nodes will not be changed by the body effector. + ik.solver.body.effectChildNodes = false; + + // Other effectors: rightHandEffector, leftFootEffector, rightFootEffector, leftShoulderEffector, rightShoulderEffector, leftThighEffector, rightThighEffector, bodyEffector + + // You can also find an effector by: + ik.solver.GetEffector(FullBodyBipedEffector effectorType); + ik.solver.GetEffector(FullBodyBipedChain chainType); + ik.solver.GetEndEffector(FullBodyBipedChain chainType); // Returns only hand or feet effectors + } +\endcode + +
+

Accessing the Chains:

+ +\code + public FullBodyBipedIK ik; + + void LateUpdate () { + ik.solver.leftArmChain.pull = 1f; // Changing the Pull value of the left arm + ik.solver.leftArmChain.reach = 0f; // Changing the Reach value of the left arm + + // Other chains: rightArmChain, leftLegChain, rightLegChain, chain (the root chain) + + // You can also find a chain by: + ik.solver.GetChain(FullBodyBipedChain chainType); + ik.solver.GetChain(FullBodyBipedEffector effectorType); + } +\endcode + +
+

Accessing the Mapping:

+ +\code + public FullBodyBipedIK ik; + + void LateUpdate () { + ik.solver.spineMapping.iterations = 2; // Changing the Spine Mapping Iterations + ik.solver.leftArmMapping.maintainRotationWeight = 1f; // Make the left hand maintain its rotation as animated. + ik.solver.headMapping.maintainRotationWeight = 1f; // Make the head maintain its rotation as animated. + } +\endcode + +
+

Adding FullBodyBipedIK in runtime (UMA):

+\code + using RootMotion; // Need to include the RootMotion namespace as well because of the BipedReferences + + FullBodyBipedIK ik; + + // Call this method whenever you need in runtime. + // Please note that FBBIK will sample the pose of the character at initiation so at the time of calling this method, + // the limbs of the character should be bent in their natural directions. + void AddFBBIK (GameObject go, BipedReferences references = null) { + + if (references == null) { // Auto-detect the biped definition if we don't have it yet + BipedReferences.AutoDetectReferences(ref references, go.transform, BipedReferences.AutoDetectParams.Default); + } + + ik = go.AddComponent(); // Adding the component + + // Set the FBBIK to the references. You can leave the second parameter (root node) to null if you trust FBBIK to automatically set it to one of the bones in the spine. + ik.SetReferences(references, null); + + // Using pre-defined limb orientations to safeguard from possible pose sampling problems (since 0.22) + ik.solver.SetLimbOrientations(BipedLimbOrientations.UMA); // The limb orientations definition for UMA skeletons + // or... + ik.solver.SetLimbOrientations(BipedLimbOrientations.MaxBiped); // The limb orientations definition for 3ds Max Biped skeletons + // or.. + ik.solver.SetLimbOrientations(yourCustomBipedLimbOrientations); // Your custom limb orientations definition + + // To know how to fill in the custom limb orientations definition, you should imagine your character standing in I-pose (not T-pose) with legs together and hands on the sides... + // The Upper Bone Forward Axis is the local axis of the thigh/upper arm bone that is facing towards character forward. + // Lower Bone Forward Axis is the local axis of the calf/forearm bone that is facing towards character forward. + // Last Bone Left Axis is the local axis of the foot/hand that is facing towards character left. + } +\endcode + +
+

Solving the head

+Final IK 0.5 introduced the FBBIKHeadEffector component that enables us to use the FullBodyBipedIK component to map a character to the target position and rotation of the head. Please take a look at the "Head Effector" demo scene to see how it can be set up. +
NB! It is highly recommended to use VRIK instead of FullBodyBipedIK for VR avatars and in other scenarios where head targets are required. + +
+

Optimizing FullBodyBipedIK:

+- You can use renderer.isVisible to weigh out the solver when the character is not visible. +- Most of the time you don't need so many solver iterations and spine mapping iterations. Sine FinalIK 0.4, we are able to set solver iteration count to 0, in which case the full body effect will not be solved. This allows for easy optimization of IK on characters in the distance. +- Keep the "Reach" values at 0 if you don't need them. By default they are 0.05f to improve accuracy. +- Keep the Spine Twist Weight at 0 if you don't see the need for it. +- Also setting the "Spine Stiffness", "Pull Body Vertical" and/or "Pull Body Horizontal" to 0 will slightly help the performance. +- You don't need all the spine bones in the spine array. FBBIK works the fastest if there are 2 bones in the spine, the first one listed as the Root Node, and the other one the last bone in the spine (the last common ancestor of both arms). Having less bones in the Spine makes it more rigid, which in some cases might be even a better, more natural looking solution. + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + - references - references to the character bones that FullBodyBipedIK needs to build its solver. The eyes are not necessary. + +
+

Solver variables:

+ - rootNode - the central bone in the body. 2 triangles should be visible in the Scene view, the chest and the hips, connected by the rootNode. + - weight - the solver weight for smoothly blending out the effect of the IK + - iterations - the solver iteration count. If 0, full body effect will not be calculated. This allows for very easy optimization of IK on character in the distance. + +
+

Body variables:

+ - Target - the target Transform of the body effector. If assigned, solver.bodyEffector.position will be automatically set to the position of the target. + - Position Weight - the position weight of the body effector. If weighed in, the body will be pinned to solver.bodyEffector.position. This overrides bodyEffector.positionOffset. + - Use Thighs - if true, any effect on the body effector will be also applied to the thigh effectors. This makes it easier to move the lower body around. + - Spine Stiffness - the stiffness of spine constraints. Lower values "crack" the spine. + - Pull Body Vertical - weight of hand effectors pulling the body vertically (relative to root rotation). + - Pull Body Horizontal - weight of hand effectors pulling the body horizontally (relative to root rotation). + - Spine Iterations - the number of iterations of the %FABRIK algorithm. Not used if there are 2 bones assigned to Spine in the References. + - Spine Twist Weight - the weight of twisting the spine bones gradually to the orientation of the chest triangle. Relatively expensive, so set this to 0 if there is not much spine twisting going on. + - Maintain Head Rot - if 1, the head will be rotated back to where it was (in world space) before solving FBBIK. + +
+

Limb variables:

+ - Target - the target Transform of the effector. If assigned, effector.position will be automatically set to the position of the target. + - Position Weight - the position weight of the effector. If weighed in, the effector bone will be pinned to effector.position. This overrides effector.positionOffset. + - Rotation Weight - the rotation weight of the effector. If weighed in, the limb will be rotated to effector.rotation. This also changes the bending direction of the limb. If the bending direction assumed by the solver is disagreeable, set rotation weight to 0 and either just rotate the hand/foot after FBBIK is done or use a Bend Goal for full precision. + - Maintain Relative Pos - if 1, the (unweighed) limb will rotate along with the chest/hip triangle. + - Pull - the weight of pulling the parent chain. If this limb is the only one to have full pull and the others have none, you will be able to pull the character from that end effector without ever loosing contact. + - Reach - pulls the first bone of the limb closer to the last bone. + - Push - the weight of the end-effector pushing the shoulder/thigh when the end-effector is close to it. + - Push Parent - the amount of push force transferred to the parent (from hand or foot to the body). + - Reach Smoothing - smoothing the effect of the Reach with the expense of some accuracy. + - Push Smoothing - smoothing the effect of the Push and Push Parent with the expense of some accuracy. + - Bend Goal - if assigned, will bend the limb to the direction from the shoulder/thigh to the Bend Goal. + - Bend Goal Weight - the weight of bending the limb towards the Bend Goal. + - Mapping Weight - if 0, the limb will not be mapped, meaning the bones of the limb will not be rotated at all even if the effectors are weighed in. + - Maintain Hand/Foot Rot - if 1, will rotate the hand/foot back to where it was (in world space) before solving FBBIK. This is usually useful for keeping the feet aligned to the surface when changing the position of the body or the height of the feet. + +\image html FullBodyBipedIKComponent.png + +
+

Script References:

+ - Solver + - Component + +*/ + +/*! \page page9 Grounder +Grounder is an automatic vertical foot placement and alignment correction system. + +How does it work? + +The solver works on a very basic principle: The characters are animated on planar ground. The height and rotation of the feet, as they are animated, should only be offset by the difference of ground height at their ingame positions from the root height. + +Let's sample a frame in the animation, where the character's left foot y position is 0.1. Ingame, the Grounding solver will make some raycasting to find the real ground height at the left foot's position. +Let's say that the raycasting returns 0.2. If the character's ingame y position is 0, the ground height at the foot's position relative to the character root is 0.2. +The foot must be vertically offset by that exact value, ending up at 0.3. + +This approach guarantees minimal interference with the animation, because the feet will only be offset when the ground height at their positions differ from the character root's height. +If that offset is negative, meaning ground height at the foot position is lower, then the solver needs to pull down the character from the pelvis so that the feet could reach their offset targets. + +\image html GrounderHowItWorks.png + +
+

Getting started:

+ +\htmlonly \endhtmlonly + - Create an empty GameObject, parent it to the root of the character, set its localPosition and localRotation to zero, + - Add GrounderFBBIK, GrounderBipedIK, GrounderIK or GrounderQuadruped depending on the type of the character to that GameObject. + - Assign all the empty fields and the ground layers in the Grounder component + - Make sure the character collider's layer is not in the walkable layers + +
+

Solver variables:

+ - layers - the layers to walk on. Make sure to exclude the character's own layer. + - maxStep - maximum offset for the feet. Note that the foot's animated height is subtracted from that range, meaning if the foot height relative to the root is already animated at 0.4, and the max step is 0.5, it can only be offset by 0.1. + - heightOffset - offsets the character from the original animated height, this might be useful for minor corrections in that matter. + - footSpeed - the interpolation speed of the foot. Increasing it will increase accuracy with the cost of smoothness (range: 0 - inf). + - footRadius - the size of the feet. This has no effect with the fastest quality settings (range: 0.0001 - inf). + - prediction - the prediction magnitude. The prediction is based on the velocity vector of the feet. Increasing this value makes the feet look for obstacles farther on their path, but with the cost of smoothness (range: 0 - inf). + - footRotationWeight - the weight off offsetting the rotation of the feet (range: 0 - 1). + - footRotationSpeed - the speed of interpolating the foot offset (range: 0 - inf). + - maxFootRotationAngle - the maximum angle of foot offset (range: 0 - 90). + - rotateSolver - if true, will use the character's local up vector as the vertical vector for the solver and the character will be able to walk on walls and ceilings. Leave this off when not needed for performance considerations. + - pelvisSpeed - the interpolation speed of the pelvis. Increasing this will make the character's body move up/down faster. If you don't want the pelvis to move (usually spider types) set this to zero (range: 0 - inf). + - pelvisDamper - dampering the vertical motion of the character's root. This is only useful when the root is moving too violently because of the physics and you wish to make the vertical movement smoother (range: 0 - 1). + - lowerPelvisWeight - the weight of moving the pelvis down to the lowest foot. This moves the pelvis down when the character walks down the stairs and needs to reach a lower step. + - liftPelvisWeight - the weight of moving the pelvis up to the highest foot. This moves the pelvis up when the character steps on a higher obstacle. Use this when the character is crouching. + - rootSphereCastRadius - the radius of the root sphere cast. This has no effect with the "Fastest" and "Simple" quality settings. + - quality - the quality mainly determines the weight of ray/sphere/acpsule casting. The Fastest will only make a single raycast for each foot, plus a raycast for the root. Simple will make 3 raycasts for each foot, plus a raycast for the root. +The Best quality settings means 1 raycast and a capsule cast for each foot and a sphere cast for the root. + +
+\section grounders Grounder Components + +\subsection fbbik GrounderFBBIK + +GrounderFBBIK uses the FullBodyBipedIK component for offsetting the feet and optionally bending the spine. This is most useful if your character already has some FBBIK functionality and you need the component anyway. +GrounderFBBIK uses the positionOffset of the effectors so you can still pin the feet without a problem if necessary. + +Component variables: + - weight - the master weight. The effect of the Grounder can be smoothly faded out for better performance when not needed. + - spineBend - the amount of bending the spine. The spine will be bent only when the character is facing a slope or stairs. Negative value will invert the effect. + - spineSpeed - the speed of bending the spine (range: 0 - inf). + - spine - the FBBIK effectors involved in bending the spine and their horizontal/vertical weights. + +\image html GrounderFBBIKComponent.png + +\subsection bipedIK GrounderBipedIK + +GrounderBipedIK uses the BipedIK component for offsetting the feet and optionally bending the spine. With BipedIK you will not have to manually set up the IK components for the limbs. + +Component variables: + - weight - the master weight. The effect of the Grounder can be smoothly faded out for better performance when not needed. + - spineBend - the amount of bending the spine. The spine will be bent only when the character is facing a slope or stairs. Negative value will invert the effect. + - spineSpeed - the speed of bending the spine (range: 0f - inf). + +\image html GrounderBipedIKComponent.png + +\subsection ik GrounderIK + +GrounderIK can use any number and combination of CCD, FABRIK, LimbIK, or TrigonometricIK components for offsetting the limbs. This is most useful for spider/bot types of characters that have more than 2 legs connected to a single hub. + +Component variables: + - weight - the master weight. The effect of the Grounder can be smoothly faded out for better performance when not needed. + - legs - the IK components. Can be any number or combination of CCD, FABRIK, LimbIK or TrigonometricIK connected to the same pelvis. + - pelvis - the pelvis Transform. This should be the upmost common parent of the legs and the spine. + - characterRoot - this is only necessary if you wish to use the root rotation functionality. Root rotation will rotate the character root to the ground normal. + - rootRotationWeight - the weight of root rotation (range: 0 - 1). + - rootRotationSpeed - the speed of root rotation interpolation (range: 0 - inf). + - maxRootRotationAngle - the maximum angle of rotating the characterRoot.up from the default Vector3.up (range: 0 - 90). + +\image html GrounderIKComponent.png + +\subsection quadruped GrounderQuadruped + +GrounderQuadruped uses 2 Grounding solvers. That means 2 hubs that can have any number of legs. + +Component variables: + - weight - the master weight. The effect of the Grounder can be smoothly faded out for better performance when not needed. + - forelegSolver - the Grounding solver for the forelegs. + - characterRoot - this is only necessary if you wish to use the root rotation functionality. Root rotation will rotate the character root up or down depending on the ground. + - rootRotationWeight - the weight of root rotation. If the quadruped is standing on an edge and leaning down with the forelegs entering the ground, you need to increase this value and also the root rotation limits (range: 0 - 1). + - rootRotationSpeed - the speed of root rotation interpolation (range: 0 - inf). + - minRootRotation - the maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0). + - maxRootRotation - the maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90). + - pelvis - the pelvis Transform. This should be the upmost common parent of the legs and the spine. + - lastSpineBone - the last bone in the spine that is the common parent of the forelegs. + - maxLegOffset - the maximum offset of the legs from their animated positions. This enables you to set maxStep higher without the feet getting inverted (range: 0 - inf). + - maxForelegOffset - the maximum offset of the forelegs from their animated positions. This enables you to set maxStep higher without the forefeet getting inverted (range: 0 - inf). + - head - the head Transform, if you wish to maintain its rotation as animated. + - maintainHeadRotationWeight - the weight of maintaining the head's rotation as animated (range: 0 - 1). + +\image html GrounderQuadrupedComponent.png + +*/ + +/*! \page page10 Interaction System + +The Interaction System is designed for the easy setup of full body IK interactions with the dynamic game environment. +It requires a character with FullBodyBipedIK and consists of 3 main components: InteractionSystem, InteractionObject and InteractionTarget. + +
+

Getting started:

+ +\htmlonly \endhtmlonly +
\htmlonly \endhtmlonly +
\htmlonly \endhtmlonly +
\htmlonly \endhtmlonly + - Add the InteractionSystem component to a FBBIK character + - Add the InteractionObject component to an object you wish to interact with + - Create a PositionWeight weight curve, that consists of 3 keyframes {(0, 0), (1, 1), (2, 0)}, where x is horizontal and y is vertical value. + - Add the InteractionSystemTestGUI component to the character and fill out its fields for quick debugging of the interaction + - Play the scene and press the GUI button to start the interaction + +
+

Getting started with scripting:

+
+ +\code +using RootMotion.FinalIK; + +public InteractionSystem interactionSystem; // Reference to the InteractionSystem component on the character +public InteractionObject button; // The object to interact with +public bool interrupt; // If true, interactions can be called before the current interaction has finished + +void OnGUI() { + // Starting an interaction + if (GUILayout.Button("Press Button")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, button, interrupt); + } +} +\endcode + +See the API reference of the Interaction System for all the interaction functions. +See the Interaction demo scene and the InteractionDemo.cs for more examples. + +\section components Components of the Interaction System + +\subsection interactionSystem InteractionSystem +This component should be added to the same game object that has the FBBIK component. It is the main driver and the main interface for controlling the interactions of its character. + +Component variables: + - targetTag - if not empty, only the targets with the specified tag will be used by this interaction system. This is useful if there are characters in the game with different bone orientations. + - fadeInTime - the time of fading in all the channels used by the interaction (weight of the effector, reach, pull..) + - speed - the master speed for all interactions of this character. + - resetToDefaultsSpeed - if > 0, lerps all the FBBIK channels used by the Interaction System back to their default or initial values when not in interaction. + - collider the collider that registers OnTriggerEnter and OnTriggerExit events with InteractionTriggers. + - camera will be used by Interaction Triggers that need the camera's position. Assign the first person view character camera. + - camRaycastLayers the layers that will be raycasted from the camera (along camera.forward). All InteractionTrigger look at target colliders should be included. + - camRaycastDistance max distance of raycasting from the camera. + - fullBody - reference to the FullBodyBipedIK component. + - lookAt - Look At uses a LookAtIK component to automatically turn the body/head/eyes to the Interaction Object. +
iK - reference to the LookAtIK component, +
lerpSpeed - the speed of interpolating the LookAtIK target to the position of the Interaction Objectm +
weightSpeed - the speed of weighing in/out the LookAtIK weight. + +\image html InteractionSystemComponent.png + +
+\subsection interactionObject InteractionObject + +This component should be added to the game objects that we wish to interact with. It contains most of the information about the nature of the interactions. +It does not specify which body part(s) will be used, but rather the look and feel and the animation of the interaction. +That way the characteristics of an interaction are defined by the object and can be shared between multiple effectors. +So for instance a button will be pressed in the same manner, regardless of which effector is used for it. + +Animating Interaction Objects: +
+The Interaction System introduces the concept of animating objects rather than animating characters. So instead of animating a character opening a door or pressing a button, +we can just animate the door opening or the button being pressed and have the Interaction System move the character to follow that animation. +This approach gives us great freedom over the dynamics of the interactions, even allowing for multiple simultaneous animated interactions. +You can animate an Interaction Object with the dope sheet and then call that animation by using the OnStartAnimation, OnTriggerAnimation, OnReleaseAnimation and OnEndAnimation animator events that you can find on the InteractionObject component. + +Component variables: + - otherLookAtTarget - the look at target. If null, will look at this GameObject. This only has an effect when the InteractionLookAt component is used. + - otherTargetsRoot - the root Transform of the InteractionTargets. That will be used to automatically find all the InteractionTarget components, so all the InteractionTargets should be parented to that. + - positionOffsetSpace - if assigned, all PositionOffset channels will be applied in the rotation space of this Transform. If not, they will be in the rotation space of the character. + - weightCurves - The weight curves define the process of the interaction. The interaction will be as long as the longest weight curve in that list. + The horizontal value of the curve represents time since the interaction start. The vertical value represents the weight of its channel. + So if we had a weight curve for PositionWeight with 3 keyframes {(0, 0), (1, 1), (2, 0)} where a keyframe represents (time, value), then the positionWeight of an effector will reach 1 at 1 second from the interaction start and fall back to 0 at 2 secods from the interaction start. + The curve types stand for the following: +
PositionWeight - IKEffector.positionWeight, +
RotationWeight - IKEffector.rotationWeight, +
PositionOffsetX - X offset from the interpolation direction relative to the character rotation, +
PositionOffsetY - Y offset from the interpolation direction relative to the character rotation, +
PositionOffsetZ - Z offset from the interpolation direction relative to the character rotation, +
Pull - pull value of the limb used in the interaction (FBIKChain.pull), +
Reach - reach value of the limb used in the interaction (FBIKChain.reach), +
RotateBoneWeight - rotating the bone after FBBIK is finished. In many cases using this instead of RotationWeight will give you a more stable and smooth looking result. +
Push - push value of the limb used in the interaction (FBIKChain.push), +
PushParent - pushParent value of the limb used in the interaction (FBIKChain.pushParent), +
PoserWeight - weight of the hand/generic Poser. + + - multipliers - the weight curve multipliers are designed for reducing the amount of work with AnimationCurves. If you needed the rotationWeight curve to be the same as the positionWeight curve, you could use a multipier instead of duplicating the curve. + In that case the multiplier would look like this: Curve = PositionWeight, Multiplier = 1 and Result = RotationWeight. + If null, will use the InteractionObject game object. + + - events - events can be used to trigger animations, messages, interaction pause or pick-ups at certain time since interaction start. +
time - time of triggering the event (since interaction start), +
pause - if true, will pause the interaction on this event. The interaction can be resumed by calling InteractionSystem.ResumeInteraction(FullBodyBipedEffector effectorType) or InteractionSystem.ResumeAll(), +
pickUp - if true, the Interaction Object will be parented to the bone of the interacting effector. This only works as expected if a single effector is interacting with this object. For 2-handed pick-ups please see the "Interaction PickUp2Handed" demo, +
animations - the list of animations called on this event. The "Animator" or "Animation" refers to the the animator component that the "Animation State" cross-fade (using "Cross Fade Time") will be called upon. "Layer" is the layer of the Animation State and if "Reset Normalized Time" is checked, the animation will always begin from the start. +
messages - the list of messages sent on this event (using GameObject.SendMessage(), all messages require a receiver). "Function" is the name of the function called on the "Recipient" game object. + +\image html InteractionObjectComponent.png + +
+\subsection interactionTarget InteractionTarget + +If the Interaction Object has no Interaction Targets, the position and rotation of the Interaction Object itself will be used for all the effectors as the target. +However if you needed to pose a hand very precisely, you will need to create an Interaction Target. Normally you would first pose a duplicate of the character's hand, parent it to the Interaction Object and add the InteractionTarget component. +The Interaction Objects will automatically find all the Interaction Targets in their hierarchies and use them for the corresponding effectors. + +\image html InteractionTarget.png + +Working with Interaction Targets: + - See this tutorial video + - Duplicate your character, position and pose a hand to the Interaction Object + - Parent the hand hierarchy to the Interaction Object, delete the rest of the character + - Add the InteractionTarget component to the hand bone, fill out its fields + - Add the HandPoser (or GenericPoser) component to the hand bone of the character (not the hand that you just posed). That will make the fingers match the posed target. + - Play the scene to try out the interaction + +Component variables: + - effectorType - the type of the FBBIK effector that this target corresponds to + - multipliers - the weight curve multipliers enable you to override weight curve values for different effectors. + - interactionSpeedMlp - this enables you to change the speed of the interaction for different effectors. + - pivot - the pivot to twist/swing this interaction target about (The blue dot with an axis and a circle around it on the image above). + Very often you would want to acces an object from any angle, the pivot enables the Interaction System to rotate the target to face the direction towards the character. + - twistAxis - the axis of twisting the interaction target (The blue axis on the image above. The circle visualizes the twist rotation). + - twistWeight - the weight of twisting the interaction target towards the effector bone in the start of the interaction. + - swingWeight - the weight of swinging the interaction target towards the effector bone in the start of the interaction. This will make the direction from the pivot to the InteractionTarget match the direction from the pivot to the effector bone. + - rotateOnce - if true, will twist/swing around the pivot only once at the start of the interaction + +\image html InteractionTargetComponent.png + +
+\subsection interactionTrigger InteractionTrigger + +With most Interaction Objects, there is a certain angular and positional range in which they are naturally accessible and reachable to the character. For example, a button can only be pressed with a left hand if the character is within a reasonable range and more or less facing towards it. +The Interaction Trigger was specifically designed for the purpose of defining those ranges for each effector and object. + +\image html InteractionTriggerDoor.png + +The image above shows an InteractionTrigger defining the ranges of interaction with a door handle for the left hand and for the right hand." +
The green sphere is the trigger Collider on the game object that will register this InteractionTrigger with the InteractionSystem of the character. +
The circle defines the range of position in which the character is able to interact with the door. +
The purple range defines the angular range of character forward in which it is able to open the door with the right hand, the pink range is the same for the left hand. + +Getting started +- Add the InteractionSystem component to the character, +- make sure the game object that has the InteractionSystem component also has a Collider and a Rigidbody, +- create an InteractionObject to interact with, add a weight curve, for example {(0, 0), (1, 1), (2, 0)}, for PositionWeight, +- create an empty game object, name it "Trigger", parent it to the Interaction Object, add the InteractionTrigger component, +- add a trigger collider to the InteractionTrigger component, make sure it is able to trigger OnTriggerEnter calls on the InteractionSystem game object, +- assign the InteractionObject game object to InteractionTrigger's "Target". That will be the reference of direction from the trigger to the object, +- add a "Range", add an "Interaction" to that range, assign the InteractionObject to the "Interaction Objet", +- specify the FBBIK effector that you want to use for the interaction, +- set "Max Distance" to something like 1 (you can see it visualized with a circle in the Scene view), +- set "Max Angle" to 180, so you can trigger the interaction from any angle, +- follow the instructions below to create a script that controls the triggering (see UserControlInteractions.cs for a full example): + +The InteractionSystem will automatically maintain a list of triggers that the character's collider is in contact with. That list can be accessed by InteractionSystem.triggersInRange; +That list contains only the triggers that have a suitable effector range for the current position and rotation of the character. + +You can find the closest trigger for the character by: +\code +int closestTriggerIndex = interactionSystem.GetClosestTriggerIndex(); +\endcode + +if GetClosestTriggerIndex returns -1, there are no valid triggers currently in range. +If not, you can trigger the interaction by + +\code +interactionSystem.TriggerInteraction(closestTriggerIndex, false); +\endcode + +See the Interaction Trigger demo scene and the UserControlInteractions.cs script for a full example on how to make the Interaction Triggers work. + +Component variables + - ranges - the valid ranges of the character's and/or its camera's position for triggering interaction when the character is in contact with the collider of this trigger. + - characterPosition - The range for the character's position and rotation. +
use - if false, will not care where the character stands, as long as it is in contact with the trigger collider. +
offset - the offset of the character's position relative to the trigger in XZ plane. Y position of the character is unlimited as long as it is contact with the collider. +
angleOffset - angle offset from the default forward direction. +
maxAngle - max angular offset of the character's forward from the direction of this trigger. +
radius - max offset of the character's position from this range's center. +
orbit - if true, will rotate the trigger around its Y axis relative to the position of the character, so the object can be interacted with from all sides. +
fixYAxis - fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object. For example a gun will be able to be picked up from the same direction relative to the barrel no matter which side the gun is resting on. + - cameraPosition - The range for the character camera's position and rotation. +
lookAtTarget - what the camera should be looking at to trigger the interaction? +
direction - the direction from the lookAtTarget towards the camera (in lookAtTarget's space). +
maxDistance - max distance from the lookAtTarget to the camera. +
maxAngle - max angle between the direction and the direction towards the camera. +
fixYAxis - fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object. + - interactions - the definitions of interactions that will be called on InteractionSystem.TriggerInteraction. + +\image html InteractionTriggerComponent.png +\image html InteractionTriggerRightHand.png "Valid position of the character without 'Orbit'" + \image html InteractionTriggerRightHandOrbit.png "Valid positions of the character with 'Orbit'" +*/ + +/*! \page page11 Leg IK +LegIK is a wrapper component for VRIK's 4-joint biped leg solver. + +
+

Component variables:

+ - LegIK.fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance. + +
+

Wrapper variables:

+ - LegIK.solver.pelvis - the pelvis bone. + - LegIK.solver.thigh - the upper leg bone. + - LegIK.solver.calf - the lower leg bone. + - LegIK.solver.foot - the foot bone + - LegIK.solver.toe - the toe bone. + - LegIK.solver.IKPositionWeight - positional weight of the toe/foot target. Note that if you have nulled the target, the foot will still be pulled to the last position of the target until you set this value to 0. + - LegIK.solver.IKRotationWeight - rotational weight of the toe/foot target. Note that if you have nulled the target, the foot will still be rotated to the last rotation of the target until you set this value to 0. + +
+

Solver variables:

+ - LegIK.solver.leg.target - the foot/toe target. This should not be the foot tracker itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the foot/toe bone. If a toe bone is assigned in the References, the solver will match the toe bone to this target. If no toe bone assigned, foot bone will be used instead. + - LegIK.solver.leg.bendGoal - the knee will be bent towards this Transform if 'Bend Goal Weight' > 0. + - LegIK.solver.leg.bendGoalWeight - if greater than 0, will bend the knee towards the 'Bend Goal' Transform. + - LegIK.solver.leg.swivelOffset - angular offset of knee bending direction. + - LegIK.solver.leg.bendToTargetWeight - if 0, the bend plane will be locked to the rotation of the pelvis and rotating the foot will have no effect on the knee direction. If 1, to the target rotation of the leg so that the knee will bend towards the forward axis of the foot. Values in between will be slerped between the two. + - LegIK.solver.leg.legLengthMlp - use this to make the leg shorter/longer. Works by displacement of foot and calf localPosition. + - LegIK.solver.leg.stretchCurve - evaluates stretching of the leg by target distance relative to leg length. Value at time 1 represents stretching amount at the point where distance to the target is equal to leg length. Value at time 1 represents stretching amount at the point where distance to the target is double the leg length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce knee snapping (start stretching the arm slightly before target distance reaches leg length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + +\image html LegIKComponent.png +*/ + +/*! \page page12 Limb IK +LimbIK extends TrigonometricIK to specialize on the 3-segmented hand and leg character limb types. + +LimbIK comes with multiple Bend Modifiers: + - Animation: tries to maintain bend direction as it is in the animation + - Target: rotates the bend direction with the target IKRotation + - Parent: rotates the bend direction along with the parent Transform (pelvis or clavicle) + - Arm: keeps the arm bent in a biometrically natural and relaxed way (also most expensive of the above). + - Goal: bends the arm towards the "Bend Goal" Transform. + +NOTE: Bend Modifiers are only applied if Bend Modfier Weight is greater than 0. + +The IKSolverLimb.maintainRotationWeight property allows to maintain the world space rotation of the last bone fixed as it was before solving the limb. +
This is most useful when we need to reposition a foot, but maintain its rotation as it was animated to ensure proper alignment with the ground surface. + +
+

Getting started:

+ - Add the LimbIK component to the root of your character (the character should be facing its forward direction) + - Assign the limb bones to bone1, bone2 and bone3 in the LimbIK component (bones can be skipped, which means you can also use LimbIK on a 4-segment limb). + - Press Play + +
+

Getting started with scripting:

+ +\code + public LimbIK limbIK; + + void LateUpdate () { + // Changing the target position, rotation and weights + limbIK.solver.IKPosition = something; + limbIK.solver.IKRotation = something; + limbIK.solver.IKPositionWeight = something; + limbIK.solver.IKRotationWeight = something; + + // Changing the automatic bend modifier + limbIK.solver.bendModifier = IKSolverLimb.BendModifier.Animation; // Will maintain the bending direction as it is animated. + limbIK.solver.bendModifier = IKSolverLimb.BendModifier.Target; // Will bend the limb with the target rotation + limbIK.solver.bendModifier = IKSolverLimb.BendModifier.Parent; // Will bend the limb with the parent bone (pelvis or shoulder) + + // Will try to maintain the bend direction in the most biometrically relaxed way for the arms. + // Will not work for the legs. + limbIK.solver.bendModifier = IKSolverLimb.BendModifier.Arm; + } +\endcode + +
+

Adding LimbIK in runtime:

+- Add the LimbIK component via script +- Call LimbIK.solver.SetChain() + +\image html LimbIK.png + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - bone1 - the first bone (upper arm or thigh) + - bone2 - the second bone (forearm or calf) + - bone3 - the third bone (hand or foot) + - target - the target Transform. If assigned, solver IKPosition and IKRotation will be automatically set to the position of the target + - positionWeight - the weight of solving to the target position (IKPosition) + - rotationWeight - the weight of solving to the target rotation (IKRotation) + - bendNormal - normal of the plane defined by the positions of the bones. When the limb bends, the second bone will always be positioned somewhere on that plane + - AvatarIKGoal - the AvatarIKGoal of this solver. This is only used by the "Arm" bend modifier + - maintainRotationWeight - weight of maintaining the rotation of the third bone as it was before solving + - bendModifier - a selection of automatic modifiers of the bend normal + - bendModifierWeight - the weight of the bend modifier + +\image html LimbIKComponent.png +*/ + +/*! \page page13 Look At IK +LookAt IK can be used on any character or other hierarchy of bones to rotate a set of bones to face a target. +
Note that if LookAtIK does not fit you requirements, you can also use AimIK, that is very similar, but provides a different set of parameters, to make characters (especially non-biped) look at targets. + +
+

Getting started:

+ - Add the LookAtIK component to the root GameObject. That GameObject's forward axis will be the forward direction. + - Assing Spine, head and eye bones to the component. + - Press Play. + +
+

Getting started with scripting:

+ +\code + public LookAtIK lookAt; + + void LateUpdate () { + lookAt.solver.IKPositionWeight = 1f; // The master weight + + lookAt.solver.IKPosition = something; // Changing the look at target + + // Changing the weights of individual body parts + lookAt.solver.bodyWeight = 1f; + lookAt.solver.headWeight = 1f; + lookAt.solver.eyesWeight = 1f; + + // Changing the clamp weight of individual body parts + lookAt.solver.clampWeight = 1f; + lookAt.solver.clampWeightHead = 1f; + lookAt.solver.clampWeightEyes = 1f; + } +\endcode + +
+

Adding LookAtIK in runtime:

+- Add the LookAtIK component using GameObject.AddComponent(). +- Call LookAtIK.solver.SetChain(). + +\image html LookAtIK.png + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - target - the target Transform. If assigned, solver IKPosition will be automatically set to the position of the target + - weight - the master weight of the solver (multiplies all the other weights) + - bodyWeight - the weight of rotating the spine bones + - headWeight - the weight of rotating the head bone + - eyesWeight - the weight of rotating the eye bones + - clampWeight - clamping rotation of the spine bones. 0 is free rotation, 1 is completely clamped to zero effect + - clampWeightHead - clamping rotation of the head bone. 0 is free rotation, 1 is completely clamped to zero effect + - clampWeightEyes - clamping rotation of the eye bones. 0 is free rotation, 1 is completely clamped to zero effect + - clampSmoothing - the number of sine smoothing iterations applied to clamping to make it smoother + - spineWeightCurve - normalized weight distribution between the spine bones. The first spine bone is at "time" 0, the last spine bone is at 1 + - head - the head bone + - spine - the spine bones in descending order (parents first), bones can be skipped + - eyes - the eye bones + +\image html LookAtIKComponent.png + +
+

Script References:

+ - Solver + - Component +*/ + +/*! \page page14 Rotation Limits + + All rotation limits and other Final %IK components are Quaternion and Axis-Angle based to ensure consistency, continuity and to minimize singularity issues. Final %IK does not contain a single Euler operation. +
All rotation limits are based on local rotations and use the initial local rotation as reference just like Physics joints. This makes them axis-independent and intuitive to set up. +
All rotation limits have undoable Scene view editors. +
All rotation limits work with %IK solvers that support rotation limits. + + \image html RotationLimits.png "Rotation Limits" + + \subsection angle Angle + Simple angular swing and twist limit. + + \image html RotationLimitAngle.png "The anglular rotation limit" + \image html RotationLimitAngleComponent.png "The RotationLimitAngle component" + + \subsection hinge Hinge + + The hinge rotation limit limits the rotation to a single degree of freedom around an axis. This rotation limit is additive which means the hinge limits can exceed 360 degrees either way. + + \image html RotationLimitHinge.png "Adjusting hinge limits in the scene view" + \image html RotationLimitHingeComponent.png "The RotationLimitHinge component" + + \subsection polygonal Polygonal + Using a spherical polygon to limit the range of rotation on universal and ball-and-socket joints. A reach cone is specified as a spherical polygon + on the surface of a a reach sphere that defines all positions the longitudinal segment axis beyond the joint can take. +
The twist limit parameter specifies the maximum twist around the main axis. + + This class is based on the paper: +
"Fast and Easy Reach-Cone Joint Limits" +
Jane Wilhelms and Allen Van Gelder. Computer Science Dept., University of California, Santa Cruz, CA 95064. August 2, 2001 + + The polygonal rotation limit is provided with handy scene view tools for quick editing, cloning and modifying of the reach cone points. + + \image html RotationLimitPolygonal.png "Defining reach cone points on the polygonal rotation limit" + \image html RotationLimitPolygonalComponent.png "RotationLimitPolygonal component" + + \subsection spline Spline + + Using a spline to limit the range of rotation on universal and ball-and-socket joints. +
Reachable area is defined by an AnimationCurve orthogonally mapped onto a sphere, which provides a very smooth and fast result. +
The twist limit parameter specifies the maximum twist around the main axis. + + The spline rotation limit is provided with handy scene view tools for quick editing, cloning and modifying of the spline handles. + + \image html RotationLimitSpline.png "Adjusting spline handles on on the spline rotation limit" + \image html RotationLimitSplineComponent.png "The RotationLimitSpline component" + +*/ + +/*! \page page15 Trigonometric IK +Trigonometric IK is the most basic IK solver that is based on the Law of Cosines and solves a 3-segmented bone hierarchy. +(IKSolverLimb extends IKSolverTrigonometric just to add a couple of extra parameters like the bend modifiers) + +
+

Getting started:

+ - Add the TrigonometricIK component to the first bone. + - Assign bone1, bone2 and bone3 in the TrigonometricIK component + - Press Play + +
+

Getting started with scripting:

+ +\code + public TrigonometricIK trig; + + void LateUpdate () { + // Changing the target position, rotation and weights + trig.solver.IKPosition = something; + trig.solver.IKRotation = something; + trig.solver.IKPositionWeight = something; + trig.solver.IKRotationWeight = something; + + trig.solver.SetBendGoalPosition(Vector goalPosition); // Sets the bend goal to a point in world space + } +\endcode + +
+

Adding TrigonometricIK in runtime:

+- Add the TrigonometricIK component via script +- Call TrigonometricIK.solver.SetChain() + +\image html TrigonometricIK.png + +
+

Component variables:

+ - fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + +
+

Solver variables:

+ - bone1 - the first bone (upper arm or thigh) + - bone2 - the second bone (forearm or calf) + - bone3 - the third bone (hand or foot) + - target - the target Transform. If assigned, solver IKPosition and IKRotation will be automatically set to the position of the target + - positionWeight - the weight of solving to the target position (IKPosition) + - rotationWeight - the weight of solving to the target rotation (IKRotation) + - bendNormal - normal of the plane defined by the positions of the bones. When the limb bends, the second bone will always be positioned somewhere on that plane + +\image html TrigonometricIKComponent.png + +
+

Script References:

+ - Solver + - Component +*/ + +/*! \page page16 VRIK +VRIK is a high speed full body solver dedicated to animating VR avatars. The solver was originally developed for the game "Dead and Buried" by Oculus Studios. +
A detailed description of the inner workings of VRIK can be found in this article originally published in Oculus Developer Blog. + +\htmlonly \endhtmlonly + +
+

Getting started:

+ +\htmlonly \endhtmlonly + - Add VRIK to your character root. If it is a Humanoid, References will be automatically filled in using the Animator. If not, the bones used by the solvers will have to be manually assigned to the "References". + - Move the camera to the avatar's eyes, move hand controllers to the avatar's hands as if they were worn by the avatar. + - Make duplicates of the avatar's head and hand bones. + - Parent the duplicates to the camera/hand controllers. + - Assign the duplicates as Head/Hand Targets in VRIK. + - VRIK samples the pose of the avatar at Start to find out which way to bend the limbs. Make sure that the elbow/knee bones are rotated so that the limbs are slightly bent in their natural bending directions, they must not be completely straight. + - Examples of VRIK setup for Oculus and SteamVR can be found in "Plugins/RootMotion/FinalIK/_Integration". Oculus/SteamVR utilities packages from the Asset Store are required to run these demos. + +
+

Performance:

+ +VRIK is about 2-3 times faster than FullBodyBipedIK. In Dead and Buried 2, it was used on 6 avatars simultaneously visible on screen and running on Oculus Quest hardware. +Since Final IK v1.9 VRIK has a 3-level LOD system with level 1 providing roughly 30% gain and level 2 solver disabled with only the root position and rotation updated if the built-in locomotion solver was used. + +\htmlonly \endhtmlonly + +
+

Adding VRIK component in run-time:

+ +\code + void LateUpdate () { + var ik = gameObject.AddComponent(); + ik.AutoDetectReferences(); + } +\endcode + +
+

Using VRIK with Rotation Limits:

+VRIK has its own set of built-in constraints and RotationLimits can not be used in the solving process. It is possible however to apply RotationLimits on top of VRIK for instance to make sure that the hand bones do not bend unnaturally beyond reasonable limits. +To do this, we would have to disable the rotation limits in Start to take control of their updating, then update them after VRIK using the VRIK.solver.OnPostUpdate delegate:: + +\code +public VRIK ik; +public RotationLimit[] rotationLimits; + +void Start() { + foreach (RotationLimit limit in rotationLimits) { + limit.enabled = false; + } + + ik.solver.OnPostUpdate += AfterVRIK; +} + +private void AfterVRIK() { + foreach (RotationLimit limit in rotationLimits) { + limit.Apply(); + } +} +\endcode + +
+

Calibration:

+VRIK offers 2 calibration methods: +
+ - Basic Head & Hands +
+Calibrates the avatar to the camera and hand controllers. That method is independent of avatar bone orientations and only requires position and rotation offsets to be defined for the head and hands. +See the "VRIK (Basic Head & Hands Calibration) demo for more info and examples. +
+ - Full Body +
+Calibrates the avatar to the camera, hands and additional trackers on the body and ankles. +Please take a look at the "VRIK (Calibration)" demo on how to use the VRIKCalibrator for full body tracking. + +
If you only need to calibrate the size of the avatar, it is easiest to do so by having the player stand up straight, then comparing the height of the head target to the height of the avatar's head bone: + +\code +float sizeF = (ik.solver.spine.headTarget.position.y - ik.references.root.position.y) / (ik.references.head.position.y - ik.references.root.position.y); +ik.references.root.localScale *= sizeF; +\endcode + +
+\section locomotion Locomotion +VRIK supports 2 modes of locomotion - Procedural (legacy) and Animated. +
+\subsection procedural Procedural (legacy) +The built-in procedural locomotion was developed in the early days of VR and designed for foot shuffling around a few square meters space. It does not work well for room-scale or thumbstick locomotion as it is not responsive enough and tends to fall behind of the camera when moving fast. +Procedural locomotion locks the feet to "footsteps", that will be moved procedurally to make the character catch up to the HMD. +
+\subsection animated Animated +Animated locomotion module uses a simple 8-directional strafing animation blend tree to make the character follow the horizontal direction towards the HMD by root motion and scripted transformation. +
The modulre requires having an enabled Animator with an Animator Controller that is compatible with the module, such as the "VRIK Animated Locomotion" controller (Humanoid) provided in the package. +However it does not limit you to use that controller, it can manage any animation setup as long as it has and uses the required Animator parameters: + - VRIK_Turn - Used for turning on spot. The idle state must be a 1D blend tree with looping turn-on-spot animations, setup like the "VRIK_Idle" state in the "VRIK Animated Locomotion" Animator Controller. + - VRIK_Horizontal - Drives the lateral motion, must be the first parameter used in the "VRIK_Locomotion" blend tree. + - VRIK_Vertical - Drives the forward/backward motion, must be the second parameter used in the "VRIK_Locomotion" blend tree. + - VRIK_IsMoving - Parameter for transitioning between the "VRIK_Idle" and "VRIK_Locomotion" states. + - VRIK_Speed - Multiplier for the "VRIK_Locomotion" state's speed. + \image html VRIKLocomotionParameters.png +
Additional requirements: + - Transition from "VRIK_Locomotion" to "VRIK_Idle" must be named as "VRIK_Stop". + - After you have finished setting up all the motion clips in the "VRIK_Locomotion" blend trees, click on "Compute Positions" and select "Velocity XZ" to match horizontal and vertical parameters to animation velocities. + \image html VRIKLocomotionBlendTree.png + +
Extending the Animator Controller + - Make a duplicate of the "VRIK Animated Locomotion" Animator Controller, so your work would not be lost the next time you update Final IK. You can also just copy the "VRIK Animated Locomotion" sub-state machine into your own Animator Controller. + - Can add running/sprinting animations to the "VRIK_Locomotion blend tree. + - Can add crouching animations to the "VRIK_Locomotion" blend tree if you add an additional "Crouch" parameter and convert motions to blend trees using that parameter. The value of Crouch can be calculated using the height of the head target from the root of the avatar. + +
Networking Animated locomotion +
When applying Animated locomotion to remote instances of networked avatars, will have to sync the following objects/data: + - Head target position/rotation + - Hand target positions/rotations + - Y position of the avatar + +Horizontal position and rotation of the avatar will be applied by the locomotion module automatically based on the above data. +
It is important to interpolate the synced data to ensure VRIK has smooth input velocities. + +
+

Component variables:

+ - VRIK.fixTransforms - if true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance + - VRIK.references - bone mapping. Right-click on the component header and select 'Auto-detect References' of fill in manually if not a Humanoid character. Chest, neck, shoulder and toe bones are optional. VRIK also supports legless and armless characters. If you do not wish to use legs/arms, leave all leg/arm references empty. + +\image html VRIKComponent.png + +Solver variables: + - VRIK.solver.IKPositionWeight - master weight of the solver. + - VRIK.solver.LOD - LOD 0: Full quality solving. LOD 1: Shoulder solving, stretching plant feet disabled, spine solving quality reduced. This provides about 30% of performance gain. LOD 2: Culled, but updating root position and rotation if locomotion is enabled. + - VRIK.solver.plantFeet - if true, will keep the toes planted even if head target is out of reach, so this can cause the camera to exit the head if it is too high for the model to reach. Enabling this increases the cost of the solver as the legs will have to be solved multiple times. + +\image html VRIKSolver.png + +Spine variables: + - VRIK.solver.spine.headTarget - the head target. This should not be the camera Transform itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the head bone. The best practice for setup would be to move the camera to the avatar's eyes, duplicate the avatar's head bone and parent it to the camera. Then assign the duplicate to this slot. + - VRIK.solver.spine.positionWeight - positional weight of the head target. Note that if you have nulled the headTarget, the head will still be pulled to the last position of the headTarget until you set this value to 0. + - VRIK.solver.spine.rotationWeight - rotational weight of the head target. Note that if you have nulled the headTarget, the head will still be rotated to the last rotation of the headTarget until you set this value to 0. + - VRIK.solver.spine.headClampWeight - clamps head rotation. Value of 0.5 allows 90 degrees of rotation for the head relative to the headTarget. Value of 0 allows 180 degrees and value of 1 means head rotation will be locked to the target. + - VRIK.solver.spine.minHeadHeight - minimum height of the head from the root of the character. + - VRIK.solver.spine.useAnimatedHeadHeightWeight - allows for more natural locomotion animation for 3rd person networked avatars by inheriting vertical head bob motion from the animation while head target height is close to head bone height + - VRIK.solver.spine.useAnimatedHeadHeightRange - if abs(head target height - head bone height) < this value, will use head bone height as head target Y. + - VRIK.solver.spine.useAnimatedHeadHeightBlend - falloff range for the 'Use Animated Head Height Range' effect above. If head target height from head bone height is greater than useAnimatedHeadHeightRange + animatedHeadHeightBlend, then the head will be vertically locked to the head target again. + - VRIK.solver.spine.pelvisTarget - the pelvis target (optional), useful for seated rigs or if you had an additional tracker on the backpack or belt are. The best practice for setup would be to duplicate the avatar's pelvis bone and parenting it to the pelvis tracker. Then assign the duplicate to this slot. + - VRIK.solver.spine.pelvisPositionWeight - positional weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be pulled to the last position of the pelvisTarget until you set this value to 0. + - VRIK.solver.spine.pelvisRotationWeight - Rotational weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be rotated to the last rotation of the pelvisTarget until you set this value to 0. + - VRIK.solver.spine.maintainPelvisPosition - how much will the pelvis maintain its animated position? + - VRIK.solver.spine.chestGoal - if chestGoalWeight is greater than 0, the chest will be turned towards this Transform. + - VRIK.solver.spine.chestGoalWeight - weight of turning the chest towards the chestGoal. + - VRIK.solver.spine.chestClampWeight - clamps chest rotation. Value of 0.5 allows 90 degrees of rotation for the chest relative to the head. Value of 0 allows 180 degrees and value of 1 means the chest will be locked relative to the head. + - VRIK.solver.spine.rotateChestByHands - the amount of rotation applied to the chest based on hand positions. + - VRIK.solver.spine.bodyPosStiffness - determines how much the body will follow the position of the head. + - VRIK.solver.spine.bodyRotStiffness - determines how much the body will follow the rotation of the head. + - VRIK.solver.spine.neckStiffness - determines how much the chest will rotate to the rotation of the head. + - VRIK.solver.spine.moveBodyBackWhenCrouching - moves the body horizontally along -character.forward axis by that value when the player is crouching. + - VRIK.solver.spine.maxRootAngle - will automatically rotate the root of the character if the head target has turned past this angle. + - VRIK.solver.spine.rootHeadingOffset - angular offset for root heading. Adjust this value to turn the root relative to the HMD around the vertical axis. Usefulf for fighting or shooting games where you would sometimes want the avatar to stand at an angled stance. + +\image html VRIKSpine.png + +Arm variables: + - VRIK.solver.leftArm.target - the hand target. This should not be the hand controller itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the hand bone. The best practice for setup would be to move the hand controller to the avatar's hand as it it was held by the avatar, duplicate the avatar's hand bone and parent it to the hand controller. Then assign the duplicate to this slot. + - VRIK.solver.leftArm.bendGoal - the elbow will be bent towards this Transform if 'Bend Goal Weight' > 0. + - VRIK.solver.leftArm.positionWeight - positional weight of the hand target. Note that if you have nulled the target, the hand will still be pulled to the last position of the target until you set this value to 0. + - VRIK.solver.leftArm.rotationWeight - rotational weight of the hand target. Note that if you have nulled the target, the hand will still be rotated to the last rotation of the target until you set this value to 0. + - VRIK.solver.leftArm.shoulderRotationMode - different techniques for shoulder bone rotation. + - VRIK.solver.leftArm.shoulderRotationWeight - the weight of shoulder rotation. + - VRIK.solver.leftArm.shoulderTwistWeight - the weight of twisting the shoulders backwards when arms are lifted up. + - VRIK.solver.leftArm.bendGoalWeight - if greater than 0, will bend the elbow towards the 'Bend Goal' Transform. + - VRIK.solver.leftArm.swivelOffset - angular offset of the elbow bending direction. + - VRIK.solver.leftArm.wristToPalmAxis - local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation. If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select "Guess Hand Orientations" from the context menu. + - VRIK.solver.leftArm.palmToThumbAxis - local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu.. + - VRIK.solver.leftArm.armLengthMlp - use this to make the arm shorter/longer. Works by displacement of hand and forearm localPosition. + - VRIK.solver.leftArm.stretchCurve - evaluates stretching of the arm by target distance relative to arm length. Value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + +\image html VRIKArm.png + +Leg variables: + - VRIK.solver.leftLeg.target - the foot/toe target. This should not be the foot tracker itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the foot/toe bone. If a toe bone is assigned in the References, the solver will match the toe bone to this target. If no toe bone assigned, foot bone will be used instead. + - VRIK.solver.leftLeg.bendGoal - the knee will be bent towards this Transform if 'Bend Goal Weight' > 0. + - VRIK.solver.leftLeg.positionWeight - positional weight of the toe/foot target. Note that if you have nulled the target, the foot will still be pulled to the last position of the target until you set this value to 0. + - VRIK.solver.leftLeg.rotationWeight - rotational weight of the toe/foot target. Note that if you have nulled the target, the foot will still be rotated to the last rotation of the target until you set this value to 0. + - VRIK.solver.leftLeg.bendGoalWeight - if greater than 0, will bend the knee towards the 'Bend Goal' Transform. + - VRIK.solver.leftLeg.swivelOffset - angular offset of knee bending direction. + - VRIK.solver.leftLeg.bendToTargetWeight - if 0, the bend plane will be locked to the rotation of the pelvis and rotating the foot will have no effect on the knee direction. If 1, to the target rotation of the leg so that the knee will bend towards the forward axis of the foot. Values in between will be slerped between the two. + - VRIK.solver.leftLeg.legLengthMlp - use this to make the leg shorter/longer. Works by displacement of foot and calf localPosition. + - VRIK.solver.leftLeg.stretchCurve - evaluates stretching of the leg by target distance relative to leg length. Value at time 1 represents stretching amount at the point where distance to the target is equal to leg length. Value at time 1 represents stretching amount at the point where distance to the target is double the leg length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce knee snapping (start stretching the arm slightly before target distance reaches leg length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + +\image html VRIKLeg.png + +Locomotion variables: + - VRIK.solver.locomotion.mode - use Procedural (legacy) or Animated locomotion mode. + - VRIK.solver.locomotion.weight - used for blending in/out of procedural or animated locomotion. + +Procedural locomotion variables: + - VRIK.solver.locomotion.footDistance - tries to maintain this distance between the legs. + - VRIK.solver.locomotion.stepThreshold - makes a step only if step target position is at least this far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past the 'Angle Threshold'. + - VRIK.solver.locomotion.angleThreshold - makes a step only if step target position is at least 'Step Threshold' far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past this value. + - VRIK.solver.locomotion.comAngleMlp - multiplies angle of the center of mass - center of pressure vector. Larger value makes the character step sooner if losing balance. + - VRIK.solver.locomotion.maxVelocity - maximum magnitude of head/hand target velocity used in prediction. + - VRIK.solver.locomotion.velocityFactor - the amount of head/hand target velocity prediction. + - VRIK.solver.locomotion.maxLegStretch - how much can a leg be extended before it is forced to step to another position? 1 means fully stretched. + - VRIK.solver.locomotion.rootSpeed - the speed of lerping the root of the character towards the horizontal mid-point of the footsteps. + - VRIK.solver.locomotion.stepSpeed - the speed of moving a foot to the next position. + - VRIK.solver.locomotion.stepHeight - the height of the foot by normalized step progress (0 - 1). + - VRIK.solver.locomotion.heelHeight - the height offset of the heel by normalized step progress (0 - 1). + - VRIK.solver.locomotion.relaxLegTwistMinAngle - rotates the foot while the leg is not stepping to relax the twist rotation of the leg if ideal rotation is past this angle. + - VRIK.solver.locomotion.relaxLegTwistSpeed - the speed of rotating the foot while the leg is not stepping to relax the twist rotation of the leg. + - VRIK.solver.locomotion.stepInterpolation - tnterpolation mode of the step. + - VRIK.solver.locomotion.offset - offset for the approximated center of mass. + +\image html VRIKLocomotionProcedural.png + +Animated locomotion variables: + - VRIK.solver.locomotion.moveThreshold - start moving (horizontal distance to HMD + HMD velocity) threshold. + - VRIK.solver.locomotion.minAnimationSpeed - minimum locomotion animation speed. + - VRIK.solver.locomotion.maxAnimationSpeed - maximum locomotion animation speed. + - VRIK.solver.locomotion.animationSmoothTime - smoothing time for Vector3.SmoothDamping 'VRIK_Horizontal' and 'VRIK_Vertical' parameters. Larger values make animation smoother, but less responsive. + - VRIK.solver.locomotion.standOffset - X and Z standing offset from the horizontal position of the HMD. + - VRIK.solver.locomotion.rootLerpSpeedWhileMoving - lerp root towards the horizontal position of the HMD with this speed while moving. + - VRIK.solver.locomotion.rootLerpSpeedWhileStopping - lerp root towards the horizontal position of the HMD with this speed while in transition from locomotion to idle state. + - VRIK.solver.locomotion.rootLerpSpeedWhileTurning - lerp root towards the horizontal position of the HMD with this speed while turning on spot. + - VRIK.solver.locomotion.maxRootOffset - max horizontal distance from the root to the HMD. + - VRIK.solver.locomotion.maxRootAngleMoving - max root angle from head forward while moving (ik.solver.spine.maxRootAngle). + - VRIK.solver.locomotion.maxRootAngleStanding - max root angle from head forward while standing (ik.solver.spine.maxRootAngle. + +\image html VRIKLocomotionAnimated.png + +Script References: + - Solver + - Component + +*/ + +/*! \page page17 Extending Final IK +The %IK solvers and rotation limits of FinalIK were built from the ground up with extendability in mind. +
Some of the components of FinalIK, such as BipedIK, are essentially little more than just collections of %IK solvers. + +\section customcomponents Writing Custom IK Components + Before you can exploit the full power of FinalIK, it is important to know a few things about its architecture. + + The difference between %IK components and %IK solvers: +
By architecture, %IK solver is a class that actually contains the inverse kinematics functionality, while the function of an %IK component is only to harbor, initiate and update its solver and provide helpful scene view handles as well as custom inspectors. +
Therefore, %IK solvers are fully independent of their components and can even be used without them through direct reference: + +\code +using RootMotion.FinalIK; + +public IKSolverCCD spine = new IKSolverCCD(); +public IKSolverLimb limb = new IKSolverLimb(); + +void Start() { + // The root transform reference is used in the initiation of IK solvers for multiple reasons depending on the solver. + // heuristic solvers IKSolverCCD, IKSolverFABRIK and IKSolverAim only need it as context for logging warnings, + // character solvers IKSolverLimb, IKSolverLookAt, BipedIK and IKSolverFullBodyBiped use it to define their orientation relative to the character, + // IKSolverFABRIKRoot uses it as the root of all of its FABRIK chains. + spine.Initiate(transform); + limb.Initiate(transform); +} + +void LateUpdate() { + // Updating the IK solvers in a specific order. + // In the case of multiple IK solvers handling a bone hierarchy, it is usually wise to solve the parents first. + spine.Update(); + limb.Update(); +} +\endcode + You now have essentially a custom %IK component. +
This can be helpful if you needed to keep all the functionality of your %IK system in a single component, like BipedIK, so you would not have to manage many different %IK components in your scene. + + \section customrotationlimits Writing Custom Rotation Limits + All rotation limits in Final %IK extend from the abstract RotationLimit class. To compose your own, you would as well need to extend from this base class and override the abstract method + \code + protected abstract Quaternion LimitRotation(Quaternion rotation); + \endcode + + In this method you will have to apply the constraint to and return the input Quaternion. +
It is important to note that the input Quaternion is already converted to the default local rotation space of the gameobject, meaning if you return Quaternion.identity, the gameobject will always remain fixed to its initial local rotation. + + The following code could be a template for a custom rotation limit: + +\code +using RootMotion.FinalIK; + +// Declaring the class and extending from RotationLimit.cs +public class RotationLimitCustom: RotationLimit { + + // Limits the rotation in the local space of this instance's Transform. + protected override Quaternion LimitRotation(Quaternion rotation) { + return MyLimitFunction(rotation); + } + +} + +\endcode + The new rotation limit gets recognized and applied automatically by all constrainable %IK solvers. + + +\section combining Combining IK Components + When creating more complex %IK systems, you will probably need full control over the updating order of your solvers. To do that, you can just disable their components and manage their solvers from an external script. +
All %IK components extend from the abstract IK class and all %IK solvers extend from the abstract IKSolver class. This enables you to easily handle or replace the solvers even without needing to know the specific type of the solver. +
Controlling the updating order of multiple %IK components: + + \htmlonly \endhtmlonly +
+ +\code +using RootMotion.FinalIK; + +// Array of IK components that you can assign from the inspector. +// IK is abstract, so it does not matter which specific IK component types are used. +public IK[] components; + +void Start() { + // Disable all the IK components so they won't update their solvers. Use Disable() instead of enabled = false, the latter does not guarantee solver initiation. + foreach (IK component in components) component.Disable(); +} + +void LateUpdate() { + // Updating the IK solvers in a specific order. + foreach (IK component in components) component.GetIKSolver().Update(); +} +\endcode + +Animate Physics +
When your character has Animate Physics checked (UpdateMode.AnimatePhysics since Unity 4.5), you will need to check if a FixedUpdate has been called before updating the IK solvers in LateUpdate. +Otherwise the IK solvers will be updated multiple times before the Animator/Animation overwrites the pose and accumulate resulting in a high frequency flicker. So the way to update the solvers with Animate Physics would be like this; + +\code +using RootMotion.FinalIK; + +// Array of IK components that you can assign from the inspector. +// IK is abstract, so it does not matter which specific IK component types are used. +public IK[] components; + +private bool updateFrame; + +void Start() { + // Disable all the IK components so they won't update their solvers. Use Disable() instead of enabled = false, the latter does not guarantee solver initiation. + foreach (IK component in components) component.Disable(); +} + +void FixedUpdate() { + updateFrame = true; +} + +void LateUpdate() { + // Do nothing if FixedUpdate has not been called since the last LateUpdate + if (!updateFrame) return; + updateFrame = false; + + // Updating the IK solvers in a specific order. + foreach (IK component in components) component.GetIKSolver().Update(); +} +\endcode + +*/ + +/*! \page page18 FAQ + +\section FullBodyBipedIK + +- Can I use FBBIK to create animation clips for my character, how does it save the animation clips? +
FBBIK is not designed for animation authoring, but for runtime animation modification, meaning it will run on top of whatever animation you have to provide you more flexibility and accuracy when interacting with ingame objects and other character. +
For example if your character is climbing a wall, you can apply Full Body IK on top of it to make sure your hands and feet always remain fixed to the ledges. +
Since Final IK v1.9 the package includes a baking tool that can be used to create Humanoid, Generic and Legacy animation clips from your custom IK procedures, Timeline, Mecanim layer setup, etc... + +- Hope that this will not only work with a special 3d program. Is there any information on how to export from a 3D animation package? +
Final IK has nothing to do with any 3D animation packages. You would animate and export your animation clips just like you are doing it now, +
the IK components will just provide a library of possibilities for extending, modifying and characterising those animations. +
The primary function of Full Body IK is not providing a rig for creating animations in Unity from scratch, it is modifying the existing animations +
and retargeting specific body parts to match the dynamic realtime environment. +
It will dramatically reduce the amount of animation work you will have to do for your game. + +- This system actually allows to have completly non-animated animations that are run only from scripts right? +
Yes. + +- Compared to mocap, what can I expect with the IK-based animations from your system? +
IK animation can not be compared to mocap, ideally they should work together, not replace each other. +
Procedural IK only takes you so far. If you are aiming for real AAA quality and you want to compare your game with the Assassins Creed or Max Payne 3, you'll still need top notch mocap base animation. + +- Does Mecanim work better than Legacy in conjunction with Final IK or if it doesn't matter which system to use all? +
It does not matter at all, go with what you prefer. + +- Can we tween in and out of an IK'd pose? +
Yes, we can! + +- Can I remove/add limbs to or from FBBIK? +
No, not yet at least. In the current version, you can't detach a limb AND continue using Full Body IK. You can disable FBBIK and then detach the limb (which is fine in 99% of the use cases because the character would usually just die), but you can't use the solver after you have deleted the bones. +If there is a way to get rid of the limb geometry, but maintain the bones, then there is no problem, but remember, no removing the bones. I hope to overcome that limitation in the full release. Same goes for adding extra limbs. You can still use a seperate CCD/FABRIK or Limb IK component on the extra limb if you need to. + +- Can it actually work perfectly upside down? +
Yes it works upside down, you can rotate the characters however you like and still use IK. + +- Does Final IK allow you to rig a 3D mesh that does not have any bones? +
No, it needs to have bones and skinning. + +- Can I use Rotation Limits with Full Body Biped IK? +
Rotation Limits can be used with the CCD, FABRIK and Aim IK components, FBBIK has its own dedicated constraints that keep the limbs bending in the right direction and the spine from collapsing into itself. + +\section Misc +- Do you think FABRIK can be used for simulating hair or a piece of cloth on a biped? +
Yes FABRIK theoretically can be used to simulate cloth or hair. But in a future release, I'm planning to include Particle IK, which would probably be more suitable for this, as it is the de facto standard for those kinds of simulations. + +- Does Final IK work with 2D? +
AimIK, CCDIK, FABRIK, TrigonometricIK, LimbIK, ArmIK and LegIK can be constrained to 2D. FullBodyBipedIK and VRIK can not be used on 2D characters. + */ + +/*! \page page19 3rd Party Support + +Itegration packages to 3rd party assets can be found in "Assets/Plugins/RootMotion/FinalIK/_Integration". + */ \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs.meta new file mode 100644 index 00000000..4fd372ca --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/DoxygenManualFinalIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2ad7f440b73d8470b959b7c9fb12fcfb +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf new file mode 100644 index 00000000..a27ddd59 Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf.meta new file mode 100644 index 00000000..528d233b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK Change Log.pdf.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: e7b02201a6e3c416cad2e367877dacc7 +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf new file mode 100644 index 00000000..788418ee Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf.meta new file mode 100644 index 00000000..d3b379a1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK ReadMe.rtf.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: 365bd3269a5454635af24dc6962f7d1d +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf new file mode 100644 index 00000000..a0bcf3d3 Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf.meta new file mode 100644 index 00000000..73ed8330 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/FinalIK User Manual.pdf.meta @@ -0,0 +1,6 @@ +fileFormatVersion: 2 +guid: 7ef58c8cd22c3461180e62ac068acdc4 +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig.meta new file mode 100644 index 00000000..9dab0428 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 44d91317b400b4b9ab842fa07822acc2 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig/FingerRig.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig/FingerRig.cs new file mode 100644 index 00000000..47cb8bd4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Finger Rig/FingerRig.cs @@ -0,0 +1,387 @@ +using UnityEngine; +using System.Collections; +using RootMotion; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Contains a LimbIK solver and some additional logic to handle the finger. + /// + [System.Serializable] + public class Finger { + + [System.Serializable] + public enum DOF { + One, + Three + } + + /// + /// Master Weight for the finger. + /// + [Tooltip("Master Weight for the finger.")] + [Range(0f, 1f)] public float weight = 1f; + /// + /// The weight of rotating the finger tip and bending the finger to the target. + /// + [Tooltip("The weight of rotating the finger tip and bending the finger to the target.")] + [Range(0f, 1f)] + public float rotationWeight = 1f; + + [Tooltip("Rotational degrees of freedom. When set to 'One' the fingers will be able to be rotated only around a single axis. When 3, all 3 axes are free to rotate around.")] + /// + /// Rotational degrees of freedom. When set to 'One' the fingers will be able to be rotated only around a single axis. When 3, all 3 axes are free to rotate around. + /// + public DOF rotationDOF; + + [Tooltip("If enabled, keeps bone1 twist angle fixed relative to bone2.")] + /// + /// If enabled, keeps bone1 twist angle fixed relative to bone2. + /// + public bool fixBone1Twist; + + /// + /// The first bone of the finger. + /// + [Tooltip("The first bone of the finger.")] + public Transform bone1; + /// + /// The second bone of the finger. + /// + [Tooltip("The second bone of the finger.")] + public Transform bone2; + /// + /// The (optional) third bone of the finger. This can be ignored for thumbs. + /// + [Tooltip("The (optional) third bone of the finger. This can be ignored for thumbs.")] + public Transform bone3; + /// + /// The fingertip object. If your character doesn't have tip bones, you can create an empty GameObject and parent it to the last bone in the finger. Place it to the tip of the finger. + /// + [Tooltip("The fingertip object. If your character doesn't have tip bones, you can create an empty GameObject and parent it to the last bone in the finger. Place it to the tip of the finger.")] + public Transform tip; + /// + /// The IK target (optional, can use IKPosition and IKRotation directly). + /// + [Tooltip("The IK target (optional, can use IKPosition and IKRotation directly).")] + public Transform target; + + /// + /// Has the finger properly initiated (in play mode only)? + /// + public bool initiated { get; private set; } + + /// + /// Gets or sets the IK target position if target is not used. + /// + public Vector3 IKPosition { + get { + return solver.IKPosition; + } + set { + solver.IKPosition = value; + } + } + + /// + /// Gets or sets the IK target rotation if target is not used. + /// + public Quaternion IKRotation { + get { + return solver.IKRotation; + } + set { + solver.IKRotation = value; + } + } + + /// + /// Is this finger setup valid? + /// + public bool IsValid(ref string errorMessage) { + if (bone1 == null || bone2 == null || tip == null) { + errorMessage = "One of the bones in the Finger Rig is null, can not initiate solvers."; + return false; + } + + return true; + } + + private IKSolverLimb solver; + private Quaternion bone3RelativeToTarget; + private Vector3 bone3DefaultLocalPosition; + private Quaternion bone3DefaultLocalRotation; + private Vector3 bone1Axis; + private Vector3 tipAxis; + private Vector3 bone1TwistAxis; + private Vector3 defaultBendNormal; + + // Initiates the LimbIK solver + public void Initiate(Transform hand, int index) { + initiated = false; + + string errorMessage = string.Empty; + if (!IsValid(ref errorMessage)) { + Warning.Log(errorMessage, hand, false); + return; + } + + solver = new IKSolverLimb(); + + solver.IKPositionWeight = weight; + solver.bendModifier = IKSolverLimb.BendModifier.Target; + solver.bendModifierWeight = 1f; + defaultBendNormal = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position).normalized; + solver.bendNormal = defaultBendNormal; + + Vector3 axisWorld = Vector3.Cross(bone2.position - bone1.position, tip.position - bone1.position); + bone1Axis = Quaternion.Inverse(bone1.rotation) * axisWorld; + tipAxis = Quaternion.Inverse(tip.rotation) * axisWorld; + + Vector3 normal = bone2.position - bone1.position; + Vector3 tangent = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position); + Vector3.OrthoNormalize(ref normal, ref tangent); + bone1TwistAxis = Quaternion.Inverse(bone1.rotation) * tangent; + + IKPosition = tip.position; + IKRotation = tip.rotation; + + if (bone3 != null) { + bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation; + bone3DefaultLocalPosition = bone3.localPosition; + bone3DefaultLocalRotation = bone3.localRotation; + } + + solver.SetChain(bone1, bone2, tip, hand); + solver.Initiate(hand); + + initiated = true; + } + + // Fix bones to their initial local position and rotation + public void FixTransforms() { + if (!initiated) return; + if (weight <= 0f) return; + + solver.FixTransforms(); + + if (bone3 != null) { + bone3.localPosition = bone3DefaultLocalPosition; + bone3.localRotation = bone3DefaultLocalRotation; + } + } + + // Stores the default localPosition/Rotation of the finger bones used by FixTransforms() + public void StoreDefaultLocalState() { + if (!initiated) return; + + solver.StoreDefaultLocalState(); + + if (bone3 != null) { + bone3DefaultLocalPosition = bone3.localPosition; + bone3DefaultLocalRotation = bone3.localRotation; + } + } + + // Update the LimbIK solver and rotate the optional 3rd bone + public void Update(float masterWeight) { + if (!initiated) return; + + float w = weight * masterWeight; + if (w <= 0f) return; + + solver.target = target; + if (target != null) { + IKPosition = target.position; + IKRotation = target.rotation; + } + + if (rotationDOF == DOF.One) { + Quaternion q = Quaternion.FromToRotation(IKRotation * tipAxis, bone1.rotation * bone1Axis); + IKRotation = q * IKRotation; + } + + // Rotate the 3rd bone + if (bone3 != null) { + if (w * rotationWeight >= 1f) { + bone3.rotation = IKRotation * bone3RelativeToTarget; + } else { + bone3.rotation = Quaternion.Lerp(bone3.rotation, IKRotation * bone3RelativeToTarget, w * rotationWeight); + } + } + + solver.IKPositionWeight = w; + solver.IKRotationWeight = rotationWeight; + solver.Update(); + + if (fixBone1Twist) + { + Quaternion bone2Rotation = bone2.rotation; + Quaternion space = Quaternion.LookRotation(bone1.rotation * bone1TwistAxis, bone2.position - bone1.position); + Vector3 bone1Twist = Quaternion.Inverse(space) * solver.bendNormal; + float angle = Mathf.Atan2(bone1Twist.x, bone1Twist.z) * Mathf.Rad2Deg; + bone1.rotation = Quaternion.AngleAxis(angle, bone2.position - bone1.position) * bone1.rotation; + bone2.rotation = bone2Rotation; + } + } + } + + /// + /// Handles IK for a number of Fingers with 3-4 joints. + /// + public class FingerRig : SolverManager { + + /// + /// The master weight for all fingers. + /// + [Tooltip("The master weight for all fingers.")] + [Range(0f, 1f)] + public float weight = 1f; + + /// + /// The array of Fingers. + /// + public Finger[] fingers = new Finger[0]; + + /// + /// Has the rig properly initiated (in play mode only)? + /// + public bool initiated { get; private set; } + + /// + /// Is this rig valid? + /// + public bool IsValid(ref string errorMessage) { + foreach (Finger finger in fingers) { + if (!finger.IsValid(ref errorMessage)) return false; + } + return true; + } + + /// + /// Attempts to automatically fill in the Finger bones. + /// + [ContextMenu("Auto-detect")] + public void AutoDetect() { + fingers = new Finger[0]; + + for (int i = 0; i < transform.childCount; i++) { + Transform[] potentialFinger = new Transform[0]; + AddChildrenRecursive(transform.GetChild(i), ref potentialFinger); + + if (potentialFinger.Length == 3 || potentialFinger.Length == 4) { + Finger finger = new Finger(); + finger.bone1 = potentialFinger[0]; + finger.bone2 = potentialFinger[1]; + if (potentialFinger.Length == 3) { + finger.tip = potentialFinger[2]; + } else { + finger.bone3 = potentialFinger[2]; + finger.tip = potentialFinger[3]; + } + + finger.weight = 1f; + + Array.Resize(ref fingers, fingers.Length + 1); + fingers[fingers.Length - 1] = finger; + } + } + } + + /// + /// Adds a finger in run-time. + /// + public void AddFinger(Transform bone1, Transform bone2, Transform bone3, Transform tip, Transform target = null) { + Finger finger = new Finger(); + finger.bone1 = bone1; + finger.bone2 = bone2; + finger.bone3 = bone3; + finger.tip = tip; + finger.target = target; + + Array.Resize(ref fingers, fingers.Length + 1); + fingers[fingers.Length - 1] = finger; + + initiated = false; + finger.Initiate(transform, fingers.Length - 1); + if (fingers[fingers.Length - 1].initiated) initiated = true; + } + + /// + /// Removes a finger in runtime. + /// + public void RemoveFinger(int index) { + if (index < 0f || index >= fingers.Length) { + Warning.Log("RemoveFinger index out of bounds.", transform); + return; + } + + if (fingers.Length == 1) { + fingers = new Finger[0]; + return; + } + + Finger[] newFingers = new Finger[fingers.Length - 1]; + int added = 0; + + for (int i = 0; i < fingers.Length; i++) { + if (i != index) { + newFingers[added] = fingers[i]; + added ++; + } + } + + fingers = newFingers; + } + + // Adds child Transforms of the 'parent' to the 'array' recursively only if each Transform has a single child. + private void AddChildrenRecursive(Transform parent, ref Transform[] array) { + Array.Resize(ref array, array.Length + 1); + array[array.Length - 1] = parent; + + if (parent.childCount != 1) return; + + AddChildrenRecursive(parent.GetChild(0), ref array); + } + + protected override void InitiateSolver() { + initiated = true; + + for (int i = 0; i < fingers.Length; i++) { + fingers[i].Initiate(transform, i); + if (!fingers[i].initiated) initiated = false; + } + } + + public void UpdateFingerSolvers() { + foreach (Finger finger in fingers) { + finger.Update(weight); + } + } + + public void FixFingerTransforms() { + if 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+ userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder.meta new file mode 100644 index 00000000..ffd7aa71 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: bed935aadc9ff4217bc309bf058d2fdb +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs new file mode 100644 index 00000000..48cd14c6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs @@ -0,0 +1,92 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Dedicated abstrac base component for the Grounding solver. + /// + public abstract class Grounder: MonoBehaviour { + + #region Main Interface + + /// + /// The master weight. Use this to fade in/out the grounding effect. + /// + [Tooltip("The master weight. Use this to fade in/out the grounding effect.")] + [Range(0f, 1f)] public float weight = 1f; + /// + /// The %Grounding solver. Not to confuse with IK solvers. + /// + [Tooltip("The Grounding solver. Not to confuse with IK solvers.")] + public Grounding solver = new Grounding(); + + /// + /// Delegate for Grounder events. + /// + public delegate void GrounderDelegate(); + /// + /// Called before the Grounder updates its solver. + /// + public GrounderDelegate OnPreGrounder; + /// + /// Called after the Grounder has updated its solver and before the IK is applied. + /// + public GrounderDelegate OnPostGrounder; + /// + /// Called after the IK has updated. + /// + public GrounderDelegate OnPostIK; + + /// + /// Resets this Grounder so characters can be teleported instananeously. + /// + public abstract void ResetPosition(); + + #endregion Main Interface + + public bool initiated { get; protected set; } + + // Gets the spine bend direction + protected Vector3 GetSpineOffsetTarget() { + Vector3 sum = Vector3.zero; + for (int i = 0; i < solver.legs.Length; i++) { + sum += GetLegSpineBendVector(solver.legs[i]); + } + return sum; + } + + // Logs the warning if no other warning has beed logged in this session. + protected void LogWarning(string message) { + Warning.Log(message, transform); + } + + // Gets the bend direction for a foot + private Vector3 GetLegSpineBendVector(Grounding.Leg leg) { + Vector3 spineTangent = GetLegSpineTangent(leg); + float dotF = (Vector3.Dot(solver.root.forward, spineTangent.normalized) + 1) * 0.5f; // Default behaviour, not bending spine when going downhill + //float dotF = Mathf.Abs(Vector3.Dot(solver.root.forward, spineTangent.normalized)); // Bending spine backwards when going downhill + //float dotF = Vector3.Dot(solver.root.forward, spineTangent.normalized); // Bending spine forward when going downhill + float w = (leg.IKPosition - leg.transform.position).magnitude; + return spineTangent * w * dotF; + } + + // Gets the direction from the root to the foot (ortho-normalized to root.up) + private Vector3 GetLegSpineTangent(Grounding.Leg leg) { + Vector3 tangent = leg.transform.position - solver.root.position; + + if (!solver.rotateSolver || solver.root.up == Vector3.up) return new Vector3(tangent.x, 0f, tangent.z); + + Vector3 normal = solver.root.up; + Vector3.OrthoNormalize(ref normal, ref tangent); + return tangent; + } + + // Open the User Manual url + protected abstract void OpenUserManual(); + + // Open the Script Reference url + protected abstract void OpenScriptReference(); + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs.meta new file mode 100644 index 00000000..1f2640c3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounder.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 20d3b31ccf0b543f5b659a1c3292d5c5 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs new file mode 100644 index 00000000..8e18ea66 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs @@ -0,0 +1,196 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Grounding for BipedIK characters. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page9.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Biped")] + public class GrounderBipedIK: Grounder { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_biped_i_k.html"); + } + + #region Main Interface + + /// + /// The BipedIK componet. + /// + [Tooltip("The BipedIK componet.")] + public BipedIK ik; + /// + /// The amount of spine bending towards upward slopes. + /// + [Tooltip("The amount of spine bending towards upward slopes.")] + public float spineBend = 7f; + /// + /// The interpolation speed of spine bending. + /// + [Tooltip("The interpolation speed of spine bending.")] + public float spineSpeed = 3f; + + #endregion Main Interface + + public override void ResetPosition() { + solver.Reset(); + spineOffset = Vector3.zero; + } + + private Transform[] feet = new Transform[2]; + private Quaternion[] footRotations = new Quaternion[2]; + private Vector3 animatedPelvisLocalPosition, solvedPelvisLocalPosition; + private Vector3 spineOffset; + private float lastWeight; + + // Can we initiate the Grounding? + private bool IsReadyToInitiate() { + if (ik == null) return false; + if (!ik.solvers.leftFoot.initiated) return false; + if (!ik.solvers.rightFoot.initiated) return false; + return true; + } + + // Initiate once we have a BipedIK component + void Update() { + weight = Mathf.Clamp(weight, 0f, 1f); + if (weight <= 0f) return; + + if (initiated) return; + if (!IsReadyToInitiate()) return; + + Initiate(); + } + + private void Initiate() { + // Gathering both foot bones from the BipedIK + feet = new Transform[2]; + footRotations = new Quaternion[2]; + + feet[0] = ik.references.leftFoot; + feet[1] = ik.references.rightFoot; + + footRotations[0] = Quaternion.identity; + footRotations[1] = Quaternion.identity; + + // Adding to the delegates to get call at certain points in the solving process + ik.solvers.spine.OnPreUpdate += OnSolverUpdate; + ik.solvers.rightFoot.OnPostUpdate += OnPostSolverUpdate; + + // Store the default localPosition of the pelvis + animatedPelvisLocalPosition = ik.references.pelvis.localPosition; + + // Initiate the Grounding + solver.Initiate(ik.references.root, feet); + + initiated = true; + } + + // Weigh out the limb solvers properly when the component is disabled + void OnDisable() { + if (!initiated) return; + + ik.solvers.leftFoot.IKPositionWeight = 0f; + ik.solvers.rightFoot.IKPositionWeight = 0f; + } + + // Called before updating the spine IK solver + private void OnSolverUpdate() { + if (!enabled) return; + + if (weight <= 0f) { + if (lastWeight <= 0f) return; + + // Weigh out the limb solvers properly + OnDisable(); + } + + lastWeight = weight; + + if (OnPreGrounder != null) OnPreGrounder(); + + // If the pelvis local position has not changed since last solved state, consider it unanimated + if (ik.references.pelvis.localPosition != solvedPelvisLocalPosition) animatedPelvisLocalPosition = ik.references.pelvis.localPosition; + else ik.references.pelvis.localPosition = animatedPelvisLocalPosition; + + // Update the Grounding + solver.Update(); + + // Move the pelvis + ik.references.pelvis.position += solver.pelvis.IKOffset * weight; + + // Update IKPositions and IKPositionWeights of the feet + SetLegIK(ik.solvers.leftFoot, 0); + SetLegIK(ik.solvers.rightFoot, 1); + + // Bending the spine + if (spineBend != 0f && ik.references.spine.Length > 0) { + spineSpeed = Mathf.Clamp(spineSpeed, 0f, spineSpeed); + + Vector3 spineOffseTarget = GetSpineOffsetTarget() * weight; + spineOffset = Vector3.Lerp(spineOffset, spineOffseTarget * spineBend, Time.deltaTime * spineSpeed); + + // Store upper arm rotations to revert them after we rotate the spine + Quaternion leftArmRotation = ik.references.leftUpperArm.rotation; + Quaternion rightArmRotation = ik.references.rightUpperArm.rotation; + + // Get the offset rotation for the spine + Vector3 up = solver.up; + Quaternion f = Quaternion.FromToRotation(up, up + spineOffset); + + // Rotate the spine + ik.references.spine[0].rotation = f * ik.references.spine[0].rotation; + + // Revert the upper arms + ik.references.leftUpperArm.rotation = leftArmRotation; + ik.references.rightUpperArm.rotation = rightArmRotation; + + ik.solvers.lookAt.SetDirty(); + } + + if (OnPostGrounder != null) OnPostGrounder(); + } + + // Set the IK position and weight for a limb + private void SetLegIK(IKSolverLimb limb, int index) { + footRotations[index] = feet[index].rotation; + + limb.IKPosition = solver.legs[index].IKPosition; + limb.IKPositionWeight = weight; + } + + // Rotating the feet after IK has finished + private void OnPostSolverUpdate() { + if (weight <= 0f) return; + if (!enabled) return; + + for (int i = 0; i < feet.Length; i++) { + feet[i].rotation = Quaternion.Slerp(Quaternion.identity, solver.legs[i].rotationOffset, weight) * footRotations[i]; + } + + // Store the local position of the pelvis so we know it it changes + solvedPelvisLocalPosition = ik.references.pelvis.localPosition; + + if (OnPostIK != null) OnPostIK(); + } + + // Cleaning up the delegates + void OnDestroy() { + if (initiated && ik != null) { + ik.solvers.spine.OnPreUpdate -= OnSolverUpdate; + ik.solvers.rightFoot.OnPostUpdate -= OnPostSolverUpdate; + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs.meta new file mode 100644 index 00000000..f0fa6d7c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderBipedIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 391939450fd8044e3839af08f34c2af8 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: c0b08042695f548e79a4e5c84112fe52, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs new file mode 100644 index 00000000..0a4b1de0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs @@ -0,0 +1,215 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Grounding for FBBIK characters. + /// + [HelpURL("https://www.youtube.com/watch?v=9MiZiaJorws&index=6&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Full Body Biped")] + public class GrounderFBBIK: Grounder { + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO")] + void OpenTutorial() { + Application.OpenURL("https://www.youtube.com/watch?v=9MiZiaJorws&index=6&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_f_b_b_i_k.html"); + } + + #region Main Interface + + /// + /// Contains the bending weights for an effector. + /// + [System.Serializable] + public class SpineEffector { + /// + /// The type of the effector. + /// + [Tooltip("The type of the effector.")] + public FullBodyBipedEffector effectorType; + /// + /// The weight of horizontal bend offset towards the slope.. + /// + [Tooltip("The weight of horizontal bend offset towards the slope.")] + public float horizontalWeight = 1f; + /// + /// The vertical bend offset weight. + /// + [Tooltip("The vertical bend offset weight.")] + public float verticalWeight; + + public SpineEffector() {} + + /// + /// Initializes a new instance of the class. + /// + /// Effector type. + /// Horizontal weight. + /// Vertical weight. + public SpineEffector(FullBodyBipedEffector effectorType, float horizontalWeight, float verticalWeight) { + this.effectorType = effectorType; + this.horizontalWeight = horizontalWeight; + this.verticalWeight = verticalWeight; + } + } + + /// + /// Reference to the FBBIK componet. + /// + [Tooltip("Reference to the FBBIK componet.")] + public FullBodyBipedIK ik; + /// + /// The amount of spine bending towards upward slopes. + /// + [Tooltip("The amount of spine bending towards upward slopes.")] + public float spineBend = 2f; + /// + /// The interpolation speed of spine bending. + /// + [Tooltip("The interpolation speed of spine bending.")] + public float spineSpeed = 3f; + /// + /// The spine bending effectors. + /// + public SpineEffector[] spine = new SpineEffector[0]; + + #endregion Main Interface + + public override void ResetPosition() { + solver.Reset(); + spineOffset = Vector3.zero; + } + + public void Reinitiate() + { + initiated = false; + firstSolve = false; + } + + private Transform[] feet = new Transform[2]; + private Vector3 spineOffset; + private bool firstSolve; + + // Can we initiate the Grounding? + private bool IsReadyToInitiate() { + if (ik == null) return false; + if (!ik.solver.initiated) return false; + return true; + } + + // Initiate once we have a FBBIK component + void Update() { + firstSolve = true; + weight = Mathf.Clamp(weight, 0f, 1f); + if (weight <= 0f) return; + + if (initiated) return; + if (!IsReadyToInitiate()) return; + + Initiate(); + } + + void FixedUpdate() { + firstSolve = true; + } + + void LateUpdate() { + firstSolve = true; + } + + private void Initiate () { + // Set maintainRotationWeight to 1 for both limbs so their rotation will be maintained as animated + ik.solver.leftLegMapping.maintainRotationWeight = 1f; + ik.solver.rightLegMapping.maintainRotationWeight = 1f; + + // Gathering both foot bones from the FBBIK + feet = new Transform[2]; + feet[0] = ik.solver.leftFootEffector.bone; + feet[1] = ik.solver.rightFootEffector.bone; + + // Add to the FBBIK OnPreUpdate delegate to know when it solves + ik.solver.OnPreUpdate += OnSolverUpdate; + ik.solver.OnPostUpdate += OnPostSolverUpdate; + + // Initiate Grounding + solver.Initiate(ik.references.root, feet); + + initiated = true; + } + + // Called before updating the main IK solver + private void OnSolverUpdate() { + if (!firstSolve) return; + firstSolve = false; + if (!enabled) return; + if (weight <= 0f) return; + + if (OnPreGrounder != null) OnPreGrounder(); + + solver.Update(); + + // Move the pelvis + ik.references.pelvis.position += solver.pelvis.IKOffset * weight; + + // Set effector positionOffsets for the feet + SetLegIK(ik.solver.leftFootEffector, solver.legs[0]); + SetLegIK(ik.solver.rightFootEffector, solver.legs[1]); + + // Bending the spine + if (spineBend != 0f) { + spineSpeed = Mathf.Clamp(spineSpeed, 0f, spineSpeed); + + Vector3 spineOffseTarget = GetSpineOffsetTarget() * weight; + spineOffset = Vector3.Lerp(spineOffset, spineOffseTarget * spineBend, Time.deltaTime * spineSpeed); + Vector3 verticalOffset = ik.references.root.up * spineOffset.magnitude; + + for (int i = 0; i < spine.Length; i++) { + ik.solver.GetEffector(spine[i].effectorType).positionOffset += (spineOffset * spine[i].horizontalWeight) + (verticalOffset * spine[i].verticalWeight); + } + } + + if (OnPostGrounder != null) OnPostGrounder(); + } + + // Set the effector positionOffset for the foot + private void SetLegIK(IKEffector effector, Grounding.Leg leg) { + effector.positionOffset += (leg.IKPosition - effector.bone.position) * weight; + + effector.bone.rotation = Quaternion.Slerp(Quaternion.identity, leg.rotationOffset, weight) * effector.bone.rotation; + } + + // Auto-assign ik + void OnDrawGizmosSelected() { + if (ik == null) ik = GetComponent(); + if (ik == null) ik = GetComponentInParent(); + if (ik == null) ik = GetComponentInChildren(); + } + + private void OnPostSolverUpdate() + { + if (OnPostIK != null) OnPostIK(); + } + + // Cleaning up the delegate + void OnDestroy() { + if (initiated && ik != null) + { + ik.solver.OnPreUpdate -= OnSolverUpdate; + ik.solver.OnPostUpdate -= OnPostSolverUpdate; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs.meta new file mode 100644 index 00000000..2bf7c771 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderFBBIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6c72e1df647af4c0098866e944a04b01 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 36056811931e14f20adcc2767d6262e7, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs new file mode 100644 index 00000000..4b4149a3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs @@ -0,0 +1,280 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Grounding for LimbIK, CCD and/or FABRIK solvers. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page9.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder IK")] + public class GrounderIK: Grounder { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_i_k.html"); + } + + #region Main Interface + + /// + /// The leg %IK componets (can be any type of IK component). + /// + public IK[] legs; + /// + /// The pelvis transform. Common ancestor of all the legs. + /// + [Tooltip("The pelvis transform. Common ancestor of all the legs.")] + public Transform pelvis; + /// + /// The root Transform of the character, with the rigidbody and the collider. + /// + [Tooltip("The root Transform of the character, with the rigidbody and the collider.")] + public Transform characterRoot; + /// + /// The weight of rotating the character root to the ground normal (range: 0 - 1). + /// + [Tooltip("The weight of rotating the character root to the ground normal (range: 0 - 1).")] + [Range(0f, 1f)] + public float rootRotationWeight; + /// + /// The speed of rotating the character root to the ground normal (range: 0 - inf). + /// + [Tooltip("The speed of rotating the character root to the ground normal (range: 0 - inf).")] + public float rootRotationSpeed = 5f; + /// + /// The maximum angle of root rotation (range: 0 - 90). + /// + [Tooltip("The maximum angle of root rotation (range: 0 - 90).")] + public float maxRootRotationAngle = 45f; + + #endregion Main Interface + + public override void ResetPosition() { + for (int i = 0; i < legs.Length; i++) { + legs[i].GetIKSolver().IKPosition = feet[i].transform.position; + if (legs[i] is LimbIK) + { + var leg = legs[i] as LimbIK; + leg.solver.IKRotation = solver.legs[i].transform.rotation; + } + footRotations[i] = feet[i].rotation; + } + + animatedPelvisLocalPosition = pelvis.localPosition; + solvedPelvisLocalPosition = pelvis.localPosition; + + solver.Reset(); + } + + private Transform[] feet = new Transform[0]; + private Quaternion[] footRotations = new Quaternion[0]; + private Vector3 animatedPelvisLocalPosition, solvedPelvisLocalPosition; + private int solvedFeet; + private bool solved; + private float lastWeight; + private Rigidbody characterRootRigidbody; + + // Can we initiate the Grounding? + private bool IsReadyToInitiate() { + if (pelvis == null) return false; + + if (legs.Length == 0) return false; + + foreach (IK leg in legs) { + if (leg == null) return false; + + if (leg is FullBodyBipedIK) { + LogWarning("GrounderIK does not support FullBodyBipedIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead. If you want to use FullBodyBipedIK, use the GrounderFBBIK component."); + return false; + } + + if (leg is FABRIKRoot) { + LogWarning("GrounderIK does not support FABRIKRoot, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead."); + return false; + } + + if (leg is AimIK) { + LogWarning("GrounderIK does not support AimIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead."); + return false; + } + } + + return true; + } + + // Weigh out the IK solvers properly when the component is disabled + void OnDisable() { + if (!initiated) return; + + for (int i = 0; i < legs.Length; i++) { + if (legs[i] != null) legs[i].GetIKSolver().IKPositionWeight = 0f; + } + } + + // Initiate once we have all the required components + void Update() { + weight = Mathf.Clamp(weight, 0f, 1f); + if (weight <= 0f) return; + + solved = false; + + if (initiated) { + // Clamping values + rootRotationWeight = Mathf.Clamp(rootRotationWeight, 0f, 1f); + rootRotationSpeed = Mathf.Clamp(rootRotationSpeed, 0f, rootRotationSpeed); + + // Root rotation + if (characterRoot != null && rootRotationSpeed > 0f && rootRotationWeight > 0f && solver.isGrounded) { + Vector3 normal = solver.GetLegsPlaneNormal(); + + // Root rotation weight + if (rootRotationWeight < 1f) { + normal = Vector3.Slerp(Vector3.up, normal, rootRotationWeight); + } + + // Root rotation limit + Quaternion upRotation = Quaternion.FromToRotation(transform.up, Vector3.up) * characterRoot.rotation; + Quaternion rotationTarget = Quaternion.RotateTowards(upRotation, Quaternion.FromToRotation(transform.up, normal) * characterRoot.rotation, maxRootRotationAngle); + + // Rotate the root + if (characterRootRigidbody == null) { + characterRoot.rotation = Quaternion.Lerp(characterRoot.rotation, rotationTarget, Time.deltaTime * rootRotationSpeed); + } else { + characterRootRigidbody.MoveRotation(Quaternion.Lerp(characterRoot.rotation, rotationTarget, Time.deltaTime * rootRotationSpeed)); + } + } + + return; + } + + if (!IsReadyToInitiate()) return; + + Initiate(); + } + + private void Initiate() { + // Building arrays + feet = new Transform[legs.Length]; + footRotations = new Quaternion[legs.Length]; + + for (int i = 0; i < feet.Length; i++) footRotations[i] = Quaternion.identity; + + // Gathering the last bones of the IK solvers as feet + for (int i = 0; i < legs.Length; i++) { + IKSolver.Point[] points = legs[i].GetIKSolver().GetPoints(); + + feet[i] = points[points.Length - 1].transform; + + // Add to the update delegates of each ik solver + legs[i].GetIKSolver().OnPreUpdate += OnSolverUpdate; + legs[i].GetIKSolver().OnPostUpdate += OnPostSolverUpdate; + } + + // Store the default localPosition of the pelvis + animatedPelvisLocalPosition = pelvis.localPosition; + + // Initiate the Grounding + solver.Initiate(transform, feet); + + for (int i = 0; i < legs.Length; i++) { + if (legs [i] is LegIK) { + solver.legs[i].invertFootCenter = true; + } + } + + characterRootRigidbody = characterRoot.GetComponent(); + + initiated = true; + } + + // Called before updating the first IK solver + private void OnSolverUpdate() { + if (!enabled) return; + + if (weight <= 0f) { + if (lastWeight <= 0f) return; + + // Weigh out the limb solvers properly + OnDisable(); + } + + lastWeight = weight; + + // If another IK has already solved in this frame, do nothing + if (solved) return; + + if (OnPreGrounder != null) OnPreGrounder(); + + // If the pelvis local position has not changed since last solved state, consider it unanimated + if (pelvis.localPosition != solvedPelvisLocalPosition) animatedPelvisLocalPosition = pelvis.localPosition; + else pelvis.localPosition = animatedPelvisLocalPosition; + + // Update the Grounding + solver.Update(); + + // Update the IKPositions and IKPositonWeights of the legs + for (int i = 0; i < legs.Length; i++) SetLegIK(i); + + // Move the pelvis + pelvis.position += solver.pelvis.IKOffset * weight; + + solved = true; + solvedFeet = 0; + + if (OnPostGrounder != null) OnPostGrounder(); + } + + // Set the IK position and weight for a limb + private void SetLegIK(int index) { + footRotations[index] = feet[index].rotation; + + if (legs [index] is LegIK) { + (legs[index].GetIKSolver() as IKSolverLeg).IKRotation = Quaternion.Slerp(Quaternion.identity, solver.legs[index].rotationOffset, weight) * footRotations[index]; + (legs[index].GetIKSolver() as IKSolverLeg).IKRotationWeight = 1f; + } + + legs[index].GetIKSolver().IKPosition = solver.legs[index].IKPosition; + legs[index].GetIKSolver().IKPositionWeight = weight; + } + + // Rotating the feet after IK has finished + private void OnPostSolverUpdate() { + if (weight <= 0f) return; + if (!enabled) return; + + // Only do this after the last IK solver has finished + solvedFeet ++; + if (solvedFeet < feet.Length) return; + solved = false; + + for (int i = 0; i < feet.Length; i++) { + feet[i].rotation = Quaternion.Slerp(Quaternion.identity, solver.legs[i].rotationOffset, weight) * footRotations[i]; + } + + // Store the local position of the pelvis so we know it it changes + solvedPelvisLocalPosition = pelvis.localPosition; + + if (OnPostIK != null) OnPostIK(); + } + + // Cleaning up the delegates + void OnDestroy() { + if (initiated) { + foreach (IK leg in legs) { + if (leg != null) { + leg.GetIKSolver().OnPreUpdate -= OnSolverUpdate; + leg.GetIKSolver().OnPostUpdate -= OnPostSolverUpdate; + } + } + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs.meta new file mode 100644 index 00000000..b10ddd67 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 65ace204533ef4c24ac80f11ef8ee8ea +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 7c84c5721b6d74a15ab63fe46effb886, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs new file mode 100644 index 00000000..910a1bde --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs @@ -0,0 +1,449 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Grounding for LimbIK, CCD and/or FABRIK solvers. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page9.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Grounder/Grounder Quadruped")] + public class GrounderQuadruped: Grounder { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page9.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_grounder_quadruped.html"); + } + + #region Main Interface + + /// + /// The %Grounding solver for the forelegs. + /// + [Tooltip("The Grounding solver for the forelegs.")] + public Grounding forelegSolver = new Grounding(); + /// + /// The weight of rotating the character root to the ground angle (range: 0 - 1). + /// + [Tooltip("The weight of rotating the character root to the ground angle (range: 0 - 1).")] + [Range(0f, 1f)] + public float rootRotationWeight = 0.5f; + /// + /// The maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0). + /// + [Tooltip("The maximum angle of rotating the quadruped downwards (going downhill, range: -90 - 0).")] + [Range(-90f, 0f)] + public float minRootRotation = -25f; + /// + /// The maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90). + /// + [Tooltip("The maximum angle of rotating the quadruped upwards (going uphill, range: 0 - 90).")] + [Range(0f, 90f)] + public float maxRootRotation = 45f; + /// + /// The speed of interpolating the character root rotation (range: 0 - inf). + /// + [Tooltip("The speed of interpolating the character root rotation (range: 0 - inf).")] + public float rootRotationSpeed = 5f; + /// + /// The maximum IK offset for the legs (range: 0 - inf). + /// + [Tooltip("The maximum IK offset for the legs (range: 0 - inf).")] + public float maxLegOffset = 0.5f; + /// + /// The maximum IK offset for the forelegs (range: 0 - inf). + /// + [Tooltip("The maximum IK offset for the forelegs (range: 0 - inf).")] + public float maxForeLegOffset = 0.5f; + /// + /// The weight of maintaining the head's rotation as it was before solving the Grounding (range: 0 - 1). + /// + [Tooltip("The weight of maintaining the head's rotation as it was before solving the Grounding (range: 0 - 1).")] + [Range(0f, 1f)] + public float maintainHeadRotationWeight = 0.5f; + /// + /// The root Transform of the character, with the rigidbody and the collider. + /// + [Tooltip("The root Transform of the character, with the rigidbody and the collider.")] + public Transform characterRoot; + /// + /// The pelvis transform. Common ancestor of both legs and the spine. + /// + [Tooltip("The pelvis transform. Common ancestor of both legs and the spine.")] + public Transform pelvis; + /// + /// The last bone in the spine that is the common parent for both forelegs. + /// + [Tooltip("The last bone in the spine that is the common parent for both forelegs.")] + public Transform lastSpineBone; + /// + /// The head (optional, if you intend to maintain its rotation). + /// + [Tooltip("The head (optional, if you intend to maintain its rotation).")] + public Transform head; + /// + /// %IK componets of the hindlegs. Can be any type of IK components. + /// + public IK[] legs; + /// + /// %IK components for the forelegs. Can be any type of IK components. + /// + public IK[] forelegs; + /// + /// When using GrounderQuadruped on a spherical object, update this vector to always point towards the center of that object. + /// + [HideInInspector] public Vector3 gravity = Vector3.down; + + #endregion Main Interface + + public override void ResetPosition() { + for (int i = 0; i < legs.Length; i++) + { + legs[i].GetIKSolver().IKPosition = feet[i].transform.position; + if (legs[i] is LimbIK) + { + var leg = legs[i] as LimbIK; + leg.solver.IKRotation = solver.legs[i].transform.rotation; + } + } + + solver.Reset(); + forelegSolver.Reset(); + } + + // Contains all the required information about a foot + public struct Foot { + public IKSolver solver; + public Transform transform; + public Quaternion rotation; + public Grounding.Leg leg; + + // The custom constructor + public Foot (IKSolver solver, Transform transform) { + this.solver = solver; + this.transform = transform; + this.leg = null; + rotation = transform.rotation; + } + } + + private Foot[] feet = new Foot[0]; + private Vector3 animatedPelvisLocalPosition; + private Quaternion animatedPelvisLocalRotation; + private Quaternion animatedHeadLocalRotation; + private Vector3 solvedPelvisLocalPosition; + private Quaternion solvedPelvisLocalRotation; + private Quaternion solvedHeadLocalRotation; + private int solvedFeet; + private bool solved; + private float angle; + private Transform forefeetRoot; + private Quaternion headRotation; + private float lastWeight; + private Rigidbody characterRootRigidbody; + + // Can we initiate the Grounding? + private bool IsReadyToInitiate() { + if (pelvis == null) return false; + if (lastSpineBone == null) return false; + + if (legs.Length == 0) return false; + if (forelegs.Length == 0) return false; + + if (characterRoot == null) return false; + + if (!IsReadyToInitiateLegs(legs)) return false; + if (!IsReadyToInitiateLegs(forelegs)) return false; + + return true; + } + + // Are the leg IK components valid for initiation? + private bool IsReadyToInitiateLegs(IK[] ikComponents) { + foreach (IK leg in ikComponents) { + if (leg == null) return false; + + if (leg is FullBodyBipedIK) { + LogWarning("GrounderIK does not support FullBodyBipedIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead. If you want to use FullBodyBipedIK, use the GrounderFBBIK component."); + return false; + } + + if (leg is FABRIKRoot) { + LogWarning("GrounderIK does not support FABRIKRoot, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead."); + return false; + } + + if (leg is AimIK) { + LogWarning("GrounderIK does not support AimIK, use CCDIK, FABRIK, LimbIK or TrigonometricIK instead."); + return false; + } + } + + return true; + } + + // Weigh out the IK solvers properly when the component is disabled + void OnDisable() { + if (!initiated) return; + + for (int i = 0; i < feet.Length; i++) { + if (feet[i].solver != null) feet[i].solver.IKPositionWeight = 0f; + } + } + + // Initiate once we have all the required components + void Update() { + weight = Mathf.Clamp(weight, 0f, 1f); + if (weight <= 0f) return; + + solved = false; + + if (initiated) return; + if (!IsReadyToInitiate()) return; + + Initiate(); + } + + // Initiate this Grounder + private void Initiate() { + // Building the feet + feet = new Foot[legs.Length + forelegs.Length]; + + // Gathering the last bones of the IK solvers as feet + Transform[] footBones = InitiateFeet(legs, ref feet, 0); + Transform[] forefootBones = InitiateFeet(forelegs, ref feet, legs.Length); + + // Store the default localPosition and localRotation of the pelvis + animatedPelvisLocalPosition = pelvis.localPosition; + animatedPelvisLocalRotation = pelvis.localRotation; + if (head != null) animatedHeadLocalRotation = head.localRotation; + + forefeetRoot = new GameObject().transform; + forefeetRoot.parent = transform; + forefeetRoot.name = "Forefeet Root"; + + // Initiate the Grounding + solver.Initiate(transform, footBones); + forelegSolver.Initiate(forefeetRoot, forefootBones); + + for (int i = 0; i < footBones.Length; i++) feet[i].leg = solver.legs[i]; + for (int i = 0; i < forefootBones.Length; i++) feet[i + legs.Length].leg = forelegSolver.legs[i]; + + characterRootRigidbody = characterRoot.GetComponent(); + + initiated = true; + } + + // Initiate the feet + private Transform[] InitiateFeet(IK[] ikComponents, ref Foot[] f, int indexOffset) { + Transform[] bones = new Transform[ikComponents.Length]; + + for (int i = 0; i < ikComponents.Length; i++) { + IKSolver.Point[] points = ikComponents[i].GetIKSolver().GetPoints(); + + f[i + indexOffset] = new Foot(ikComponents[i].GetIKSolver(), points[points.Length - 1].transform); + bones[i] = f[i + indexOffset].transform; + + // Add to the update delegates of each ik solver + f[i + indexOffset].solver.OnPreUpdate += OnSolverUpdate; + f[i + indexOffset].solver.OnPostUpdate += OnPostSolverUpdate; + } + + return bones; + } + + void LateUpdate () { + if (weight <= 0f) return; + + // Clamping values + rootRotationWeight = Mathf.Clamp(rootRotationWeight, 0f, 1f); + minRootRotation = Mathf.Clamp(minRootRotation, -90f, maxRootRotation); + maxRootRotation = Mathf.Clamp(maxRootRotation, minRootRotation, 90f); + rootRotationSpeed = Mathf.Clamp(rootRotationSpeed, 0f, rootRotationSpeed); + maxLegOffset = Mathf.Clamp(maxLegOffset, 0f, maxLegOffset); + maxForeLegOffset = Mathf.Clamp(maxForeLegOffset, 0f, maxForeLegOffset); + maintainHeadRotationWeight = Mathf.Clamp(maintainHeadRotationWeight, 0f, 1f); + + // Rotate the character root + RootRotation(); + } + + // Rotate the character along with the terrain + private void RootRotation() { + if (rootRotationWeight <= 0f) return; + if (rootRotationSpeed <= 0f) return; + + solver.rotateSolver = true; + forelegSolver.rotateSolver = true; + + // Get the horizontal rotation of the character + Vector3 tangent = characterRoot.forward; + + Vector3 normal = -gravity; + Vector3.OrthoNormalize(ref normal, ref tangent); + Quaternion horizontalRotation = Quaternion.LookRotation(tangent, -gravity); + + // Get the direction from root hit to forelegs root hit in the space of the horizontal character rotation + Vector3 hitDirection = forelegSolver.rootHit.point - solver.rootHit.point; + Vector3 hitDirectionLocal = Quaternion.Inverse(horizontalRotation) * hitDirection; + + // Get the angle between the horizontal and hit directions + float angleTarget = Mathf.Atan2(hitDirectionLocal.y, hitDirectionLocal.z) * Mathf.Rad2Deg; + angleTarget = Mathf.Clamp(angleTarget * rootRotationWeight, minRootRotation, maxRootRotation); + + // Interpolate the angle + angle = Mathf.Lerp(angle, angleTarget, Time.deltaTime * rootRotationSpeed); + + if (characterRootRigidbody == null) { + characterRoot.rotation = Quaternion.Slerp(characterRoot.rotation, Quaternion.AngleAxis(-angle, characterRoot.right) * horizontalRotation, weight); + } else { + characterRootRigidbody.MoveRotation(Quaternion.Slerp(characterRoot.rotation, Quaternion.AngleAxis(-angle, characterRoot.right) * horizontalRotation, weight)); + } + } + + // Called before updating the first IK solver + private void OnSolverUpdate() { + if (!enabled) return; + + if (weight <= 0f) { + if (lastWeight <= 0f) return; + + // Weigh out the limb solvers properly + OnDisable(); + } + + lastWeight = weight; + + // If another IK has already solved in this frame, do nothing + if (solved) return; + + if (OnPreGrounder != null) OnPreGrounder(); + + // If the bone transforms have not changed since last solved state, consider them unanimated + if (pelvis.localPosition != solvedPelvisLocalPosition) animatedPelvisLocalPosition = pelvis.localPosition; + else pelvis.localPosition = animatedPelvisLocalPosition; + + if (pelvis.localRotation != solvedPelvisLocalRotation) animatedPelvisLocalRotation = pelvis.localRotation; + else pelvis.localRotation = animatedPelvisLocalRotation; + + if (head != null) { + if (head.localRotation != solvedHeadLocalRotation) animatedHeadLocalRotation = head.localRotation; + else head.localRotation = animatedHeadLocalRotation; + } + + for (int i = 0; i < feet.Length; i++) feet[i].rotation = feet[i].transform.rotation; + + // Store the head rotation so it could be maintained later + if (head != null) headRotation = head.rotation; + + // Position the forefeet root to the center of forefeet + UpdateForefeetRoot(); + + // Update the Grounding + solver.Update(); + forelegSolver.Update(); + + // Move the pelvis + pelvis.position += solver.pelvis.IKOffset * weight; + + // Rotate the pelvis + Vector3 spineDirection = lastSpineBone.position - pelvis.position; + + Vector3 newSpinePosition = + lastSpineBone.position + + forelegSolver.root.up * Mathf.Clamp(forelegSolver.pelvis.heightOffset, Mathf.NegativeInfinity, 0f) - + solver.root.up * solver.pelvis.heightOffset; + + Vector3 newDirection = newSpinePosition - pelvis.position; + + Quaternion f = Quaternion.FromToRotation(spineDirection, newDirection); + pelvis.rotation = Quaternion.Slerp(Quaternion.identity, f, weight) * pelvis.rotation; + + // Update the IKPositions and IKPositonWeights of the legs + for (int i = 0; i < feet.Length; i++) SetFootIK(feet[i], (i < 2? maxLegOffset: maxForeLegOffset)); + + solved = true; + solvedFeet = 0; + + if (OnPostGrounder != null) OnPostGrounder(); + } + + // Position the forefeet root to the center of forefeet + private void UpdateForefeetRoot() { + // Get the centroid + Vector3 foreFeetCenter = Vector3.zero; + + for (int i = 0; i < forelegSolver.legs.Length; i++) { + foreFeetCenter += forelegSolver.legs[i].transform.position; + } + + foreFeetCenter /= (float)forelegs.Length; + Vector3 dir = foreFeetCenter - transform.position; + + // Ortho-normalize to this Transform's rotation + Vector3 normal = transform.up; + Vector3 tangent = dir; + Vector3.OrthoNormalize(ref normal, ref tangent); + + // Positioning the forefeet root + forefeetRoot.position = transform.position + tangent.normalized * dir.magnitude; + } + + // Set the IK position and weight for a limb + private void SetFootIK(Foot foot, float maxOffset) { + Vector3 direction = foot.leg.IKPosition - foot.transform.position; + + foot.solver.IKPosition = foot.transform.position + Vector3.ClampMagnitude(direction, maxOffset); + foot.solver.IKPositionWeight = weight; + } + + // Rotating the feet after IK has finished + private void OnPostSolverUpdate() { + if (weight <= 0f) return; + if (!enabled) return; + + // Only do this after the last IK solver has finished + solvedFeet ++; + if (solvedFeet < feet.Length) return; + + for (int i = 0; i < feet.Length; i++) { + feet[i].transform.rotation = Quaternion.Slerp(Quaternion.identity, feet[i].leg.rotationOffset, weight) * feet[i].rotation; + } + + if (head != null) head.rotation = Quaternion.Lerp(head.rotation, headRotation, maintainHeadRotationWeight * weight); + + // Store the solved transform's of the bones so we know if they are not animated + solvedPelvisLocalPosition = pelvis.localPosition; + solvedPelvisLocalRotation = pelvis.localRotation; + if (head != null) solvedHeadLocalRotation = head.localRotation; + + if (OnPostIK != null) OnPostIK(); + } + + // Cleaning up the delegates + void OnDestroy() { + if (initiated) { + DestroyLegs(legs); + DestroyLegs(forelegs); + } + } + + // Cleaning up the delegates + private void DestroyLegs(IK[] ikComponents) { + foreach (IK leg in ikComponents) { + if (leg != null) { + leg.GetIKSolver().OnPreUpdate -= OnSolverUpdate; + leg.GetIKSolver().OnPostUpdate -= OnPostSolverUpdate; + } + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs.meta new file mode 100644 index 00000000..7dea36b4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GrounderQuadruped.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9823e47edf1dd40c29dfe0ba019f33a6 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: c92822fd107844dccaf6c30c024e5806, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs new file mode 100644 index 00000000..08c85ffa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs @@ -0,0 +1,364 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Foot placement system. + /// + [System.Serializable] + public partial class Grounding { + + #region Main Interface + + /// + /// The raycasting quality. Fastest is a single raycast per foot, Simple is three raycasts, Best is one raycast and a capsule cast per foot. + /// + [System.Serializable] + public enum Quality { + Fastest, + Simple, + Best + } + + /// + /// Layers to ground the character to. Make sure to exclude the layer of the character controller. + /// + [Tooltip("Layers to ground the character to. Make sure to exclude the layer of the character controller.")] + public LayerMask layers; + /// + /// Max step height. Maximum vertical distance of Grounding from the root of the character. + /// + [Tooltip("Max step height. Maximum vertical distance of Grounding from the root of the character.")] + public float maxStep = 0.5f; + /// + /// The height offset of the root. + /// + [Tooltip("The height offset of the root.")] + public float heightOffset; + /// + /// The speed of moving the feet up/down. + /// + [Tooltip("The speed of moving the feet up/down.")] + public float footSpeed = 2.5f; + /// + /// CapsuleCast radius. Should match approximately with the size of the feet. + /// + [Tooltip("CapsuleCast radius. Should match approximately with the size of the feet.")] + public float footRadius = 0.15f; + /// + /// Offset of the foot center along character forward axis. + /// + [Tooltip("Offset of the foot center along character forward axis.")] + [HideInInspector] public float footCenterOffset; // TODO make visible in inspector if Grounder Visualization is finished. + /// + /// Amount of velocity based prediction of the foot positions. + /// + [Tooltip("Amount of velocity based prediction of the foot positions.")] + public float prediction = 0.05f; + /// + /// Weight of rotating the feet to the ground normal offset. + /// + [Tooltip("Weight of rotating the feet to the ground normal offset.")] + [Range(0f, 1f)] + public float footRotationWeight = 1f; + /// + /// Speed of slerping the feet to their grounded rotations. + /// + [Tooltip("Speed of slerping the feet to their grounded rotations.")] + public float footRotationSpeed = 7f; + /// + /// Max Foot Rotation Angle, Max angular offset from the foot's rotation (Reasonable range: 0-90 degrees). + /// + [Tooltip("Max Foot Rotation Angle. Max angular offset from the foot's rotation.")] + [Range(0f, 90f)] + public float maxFootRotationAngle = 45f; + /// + /// If true, solver will rotate with the character root so the character can be grounded for example to spherical planets. + /// For performance reasons leave this off unless needed. + /// + [Tooltip("If true, solver will rotate with the character root so the character can be grounded for example to spherical planets. For performance reasons leave this off unless needed.")] + public bool rotateSolver; + /// + /// The speed of moving the character up/down. + /// + [Tooltip("The speed of moving the character up/down.")] + public float pelvisSpeed = 5f; + /// + /// Used for smoothing out vertical pelvis movement (range 0 - 1). + /// + [Tooltip("Used for smoothing out vertical pelvis movement (range 0 - 1).")] + [Range(0f, 1f)] + public float pelvisDamper; + /// + /// The weight of lowering the pelvis to the lowest foot. + /// + [Tooltip("The weight of lowering the pelvis to the lowest foot.")] + public float lowerPelvisWeight = 1f; + /// + /// The weight of lifting the pelvis to the highest foot. This is useful when you don't want the feet to go too high relative to the body when crouching. + /// + [Tooltip("The weight of lifting the pelvis to the highest foot. This is useful when you don't want the feet to go too high relative to the body when crouching.")] + public float liftPelvisWeight; + /// + /// The radius of the spherecast from the root that determines whether the character root is grounded. + /// + [Tooltip("The radius of the spherecast from the root that determines whether the character root is grounded.")] + public float rootSphereCastRadius = 0.1f; + /// + /// If false, keeps the foot that is over a ledge at the root level. If true, lowers the overstepping foot and body by the 'Max Step' value. + /// + [Tooltip("If false, keeps the foot that is over a ledge at the root level. If true, lowers the overstepping foot and body by the 'Max Step' value.")] + public bool overstepFallsDown = true; + /// + /// The raycasting quality. Fastest is a single raycast per foot, Simple is three raycasts, Best is one raycast and a capsule cast per foot. + /// + [Tooltip("The raycasting quality. Fastest is a single raycast per foot, Simple is three raycasts, Best is one raycast and a capsule cast per foot.")] + public Quality quality = Quality.Best; + + /// + /// The %Grounding legs. + /// + public Leg[] legs { get; private set; } + /// + /// The %Grounding pelvis. + /// + public Pelvis pelvis { get; private set; } + /// + /// Gets a value indicating whether any of the legs are grounded + /// + public bool isGrounded { get; private set; } + /// + /// The root Transform + /// + public Transform root { get; private set; } + /// + /// Ground height at the root position. + /// + public RaycastHit rootHit { get; private set; } + /// + /// Is the RaycastHit from the root grounded? + /// + public bool rootGrounded { + get { + return rootHit.distance < maxStep * 2f; + } + } + + // For overriding ray/capsule/sphere casting functions + public delegate bool OnRaycastDelegate(Vector3 origin, Vector3 direction, out RaycastHit hitInfo, float maxDistance, int layerMask, QueryTriggerInteraction queryTriggerInteraction); + public OnRaycastDelegate Raycast = Physics.Raycast; + + public delegate bool OnCapsuleCastDelegate(Vector3 point1, Vector3 point2, float radius, Vector3 direction, out RaycastHit hitInfo, float maxDistance, int layerMask, QueryTriggerInteraction queryTriggerInteraction); + public OnCapsuleCastDelegate CapsuleCast = Physics.CapsuleCast; + + public delegate bool OnSphereCastDelegate(Vector3 origin, float radius, Vector3 direction, out RaycastHit hitInfo, float maxDistance, int layerMask, QueryTriggerInteraction queryTriggerInteraction); + public OnSphereCastDelegate SphereCast = Physics.SphereCast; + + /// + /// Raycasts or sphereCasts to find the root ground point. Distance of the Ray/Sphere cast is maxDistanceMlp x maxStep. Use this instead of rootHit if the Grounder is weighed out/disabled and not updated. + /// + public RaycastHit GetRootHit(float maxDistanceMlp = 10f) { + RaycastHit h = new RaycastHit(); + Vector3 _up = up; + + Vector3 legsCenter = Vector3.zero; + foreach (Leg leg in legs) legsCenter += leg.transform.position; + legsCenter /= (float)legs.Length; + + h.point = legsCenter - _up * maxStep * 10f; + float distMlp = maxDistanceMlp + 1; + h.distance = maxStep * distMlp; + + if (maxStep <= 0f) return h; + + if (quality != Quality.Best) Raycast(legsCenter + _up * maxStep, -_up, out h, maxStep * distMlp, layers, QueryTriggerInteraction.Ignore); + else SphereCast(legsCenter + _up * maxStep, rootSphereCastRadius, -up, out h, maxStep * distMlp, layers, QueryTriggerInteraction.Ignore); + + return h; + } + + /// + /// Gets a value indicating whether this is valid. + /// + public bool IsValid(ref string errorMessage) { + if (root == null) { + errorMessage = "Root transform is null. Can't initiate Grounding."; + return false; + } + if (legs == null) { + errorMessage = "Grounding legs is null. Can't initiate Grounding."; + return false; + } + if (pelvis == null) { + errorMessage = "Grounding pelvis is null. Can't initiate Grounding."; + return false; + } + + if (legs.Length == 0) { + errorMessage = "Grounding has 0 legs. Can't initiate Grounding."; + return false; + } + return true; + } + + /// + /// Initiate the %Grounding as an integrated solver by providing the root Transform, leg solvers, pelvis Transform and spine solver. + /// + public void Initiate(Transform root, Transform[] feet) { + this.root = root; + initiated = false; + + rootHit = new RaycastHit(); + + // Constructing Legs + if (legs == null) legs = new Leg[feet.Length]; + if (legs.Length != feet.Length) legs = new Leg[feet.Length]; + for (int i = 0; i < feet.Length; i++) if (legs[i] == null) legs[i] = new Leg(); + + // Constructing pelvis + if (pelvis == null) pelvis = new Pelvis(); + + string errorMessage = string.Empty; + if (!IsValid(ref errorMessage)) { + Warning.Log(errorMessage, root, false); + return; + } + + // Initiate solvers only if application is playing + if (Application.isPlaying) { + for (int i = 0; i < feet.Length; i++) legs[i].Initiate(this, feet[i]); + pelvis.Initiate(this); + + initiated = true; + } + } + + /// + /// Updates the Grounding. + /// + public void Update() { + if (!initiated) return; + + if (layers == 0) LogWarning("Grounding layers are set to nothing. Please add a ground layer."); + + maxStep = Mathf.Clamp(maxStep, 0f, maxStep); + footRadius = Mathf.Clamp(footRadius, 0.0001f, maxStep); + pelvisDamper = Mathf.Clamp(pelvisDamper, 0f, 1f); + rootSphereCastRadius = Mathf.Clamp(rootSphereCastRadius, 0.0001f, rootSphereCastRadius); + maxFootRotationAngle = Mathf.Clamp(maxFootRotationAngle, 0f, 90f); + prediction = Mathf.Clamp(prediction, 0f, prediction); + footSpeed = Mathf.Clamp(footSpeed, 0f, footSpeed); + + // Root hit + rootHit = GetRootHit(); + + float lowestOffset = Mathf.NegativeInfinity; + float highestOffset = Mathf.Infinity; + isGrounded = false; + + // Process legs + foreach (Leg leg in legs) { + leg.Process(); + + if (leg.IKOffset > lowestOffset) lowestOffset = leg.IKOffset; + if (leg.IKOffset < highestOffset) highestOffset = leg.IKOffset; + + if (leg.isGrounded) isGrounded = true; + } + + // Precess pelvis + lowestOffset = Mathf.Max(lowestOffset, 0f); + highestOffset = Mathf.Min(highestOffset, 0f); + pelvis.Process(-lowestOffset * lowerPelvisWeight, -highestOffset * liftPelvisWeight, isGrounded); + } + + // Calculate the normal of the plane defined by leg positions, so we know how to rotate the body + public Vector3 GetLegsPlaneNormal() { + if (!initiated) return Vector3.up; + + Vector3 _up = up; + Vector3 normal = _up; + + // Go through all the legs, rotate the normal by its offset + for (int i = 0; i < legs.Length; i++) { + // Direction from the root to the leg + Vector3 legDirection = legs[i].IKPosition - root.position; + + // Find the tangent + Vector3 legNormal = _up; + Vector3 legTangent = legDirection; + Vector3.OrthoNormalize(ref legNormal, ref legTangent); + + // Find the rotation offset from the tangent to the direction + Quaternion fromTo = Quaternion.FromToRotation(legTangent, legDirection); + + // Rotate the normal + normal = fromTo * normal; + } + + return normal; + } + + // Set everything to 0 + public void Reset() { + if (!Application.isPlaying) return; + pelvis.Reset(); + foreach (Leg leg in legs) leg.Reset(); + } + + #endregion Main Interface + + private bool initiated; + + // Logs the warning if no other warning has beed logged in this session. + public void LogWarning(string message) { + Warning.Log(message, root); + } + + // The up vector in solver rotation space. + public Vector3 up { + get { + return (useRootRotation? root.up: Vector3.up); + } + } + + // Gets the vertical offset between two vectors in solver rotation space + public float GetVerticalOffset(Vector3 p1, Vector3 p2) { + if (useRootRotation) { + Vector3 v = Quaternion.Inverse(root.rotation) * (p1 - p2); + return v.y; + } + + return p1.y - p2.y; + } + + // Flattens a vector to ground plane in solver rotation space + public Vector3 Flatten(Vector3 v) { + if (useRootRotation) { + Vector3 tangent = v; + Vector3 normal = root.up; + Vector3.OrthoNormalize(ref normal, ref tangent); + return Vector3.Project(v, tangent); + } + + v.y = 0; + return v; + } + + // Determines whether to use root rotation as solver rotation + private bool useRootRotation { + get { + if (!rotateSolver) return false; + if (root.up == Vector3.up) return false; + return true; + } + } + + public Vector3 GetFootCenterOffset() { + return root.forward * footRadius + root.forward * footCenterOffset; + } + } +} + + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs.meta new file mode 100644 index 00000000..7a5fa66b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/Grounding.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: cc6729d441e4044f482135cdc532367d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs new file mode 100644 index 00000000..55bb3a3d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs @@ -0,0 +1,345 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + public partial class Grounding { + + /// + /// The %Grounding %Leg. + /// + public class Leg { + + /// + /// Returns true distance from foot to ground is less that maxStep + /// + public bool isGrounded { get; private set; } + /// + /// Gets the current IK position of the foot. + /// + public Vector3 IKPosition { get; private set; } + /// + /// Gets the current rotation offset of the foot. + /// + public Quaternion rotationOffset = Quaternion.identity; + /// + /// Returns true, if the leg is valid and initiated + /// + public bool initiated { get; private set; } + /// + /// The height of foot from ground. + /// + public float heightFromGround { get; private set; } + /// + /// Velocity of the foot + /// + public Vector3 velocity { get; private set; } + /// + /// Gets the foot Transform. + /// + public Transform transform { get; private set; } + /// + /// Gets the current IK offset. + /// + public float IKOffset { get; private set; } + + public bool invertFootCenter; + + public RaycastHit heelHit { get; private set; } + public RaycastHit capsuleHit { get; private set; } + + /// + /// Gets the RaycastHit last used by the Grounder to get ground height at foot position. + /// + public RaycastHit GetHitPoint { + get + { + if (grounding.quality == Quality.Best) return capsuleHit; + return heelHit; + } + } + + /// + /// Overrides the animated position of the foot. + /// + public void SetFootPosition(Vector3 position) + { + doOverrideFootPosition = true; + overrideFootPosition = position; + } + + private Grounding grounding; + private float lastTime, deltaTime; + private Vector3 lastPosition; + private Quaternion toHitNormal, r; + private Vector3 up = Vector3.up; + private bool doOverrideFootPosition; + private Vector3 overrideFootPosition; + private Vector3 transformPosition; + + // Initiates the Leg + public void Initiate(Grounding grounding, Transform transform) { + initiated = false; + this.grounding = grounding; + this.transform = transform; + up = Vector3.up; + IKPosition = transform.position; + rotationOffset = Quaternion.identity; + + initiated = true; + OnEnable(); + } + + // Should be called each time the leg is (re)activated + public void OnEnable() { + if (!initiated) return; + + lastPosition = transform.position; + lastTime = Time.deltaTime; + } + + // Set everything to 0 + public void Reset() { + lastPosition = transform.position; + lastTime = Time.deltaTime; + IKOffset = 0f; + IKPosition = transform.position; + rotationOffset = Quaternion.identity; + } + + // Raycasting, processing the leg's position + public void Process() { + if (!initiated) return; + if (grounding.maxStep <= 0) return; + + transformPosition = doOverrideFootPosition ? overrideFootPosition : transform.position; + doOverrideFootPosition = false; + + deltaTime = Time.time - lastTime; + lastTime = Time.time; + if (deltaTime == 0f) return; + + up = grounding.up; + heightFromGround = Mathf.Infinity; + + // Calculating velocity + velocity = (transformPosition - lastPosition) / deltaTime; + //velocity = grounding.Flatten(velocity); + lastPosition = transformPosition; + + Vector3 prediction = velocity * grounding.prediction; + + if (grounding.footRadius <= 0) grounding.quality = Grounding.Quality.Fastest; + + isGrounded = false; + + // Raycasting + switch (grounding.quality) + { + + // The fastest, single raycast + case Grounding.Quality.Fastest: + + RaycastHit predictedHit = GetRaycastHit(prediction); + SetFootToPoint(predictedHit.normal, predictedHit.point); + if (predictedHit.collider != null) isGrounded = true; + break; + + // Medium, 3 raycasts + case Grounding.Quality.Simple: + + heelHit = GetRaycastHit(Vector3.zero); + Vector3 f = grounding.GetFootCenterOffset(); + if (invertFootCenter) f = -f; + RaycastHit toeHit = GetRaycastHit(f + prediction); + RaycastHit sideHit = GetRaycastHit(grounding.root.right * grounding.footRadius * 0.5f); + + if (heelHit.collider != null || toeHit.collider != null || sideHit.collider != null) isGrounded = true; + + Vector3 planeNormal = Vector3.Cross(toeHit.point - heelHit.point, sideHit.point - heelHit.point).normalized; + if (Vector3.Dot(planeNormal, up) < 0) planeNormal = -planeNormal; + + SetFootToPlane(planeNormal, heelHit.point, heelHit.point); + break; + + // The slowest, raycast and a capsule cast + case Grounding.Quality.Best: + heelHit = GetRaycastHit(invertFootCenter ? -grounding.GetFootCenterOffset() : Vector3.zero); + capsuleHit = GetCapsuleHit(prediction); + + if (heelHit.collider != null || capsuleHit.collider != null) isGrounded = true; + + SetFootToPlane(capsuleHit.normal, capsuleHit.point, heelHit.point); + break; + } + + float offsetTarget = stepHeightFromGround; + if (!grounding.rootGrounded) offsetTarget = 0f; + + IKOffset = Interp.LerpValue(IKOffset, offsetTarget, grounding.footSpeed, grounding.footSpeed); + IKOffset = Mathf.Lerp(IKOffset, offsetTarget, deltaTime * grounding.footSpeed); + + float legHeight = grounding.GetVerticalOffset(transformPosition, grounding.root.position); + float currentMaxOffset = Mathf.Clamp(grounding.maxStep - legHeight, 0f, grounding.maxStep); + + IKOffset = Mathf.Clamp(IKOffset, -currentMaxOffset, IKOffset); + + RotateFoot(); + + // Update IK values + IKPosition = transformPosition - up * IKOffset; + + float rW = grounding.footRotationWeight; + rotationOffset = rW >= 1? r: Quaternion.Slerp(Quaternion.identity, r, rW); + } + + // Gets the height from ground clamped between min and max step height + public float stepHeightFromGround { + get { + return Mathf.Clamp(heightFromGround, -grounding.maxStep, grounding.maxStep); + } + } + + // Get predicted Capsule hit from the middle of the foot + private RaycastHit GetCapsuleHit(Vector3 offsetFromHeel) + { + RaycastHit hit = new RaycastHit(); + Vector3 f = grounding.GetFootCenterOffset(); + if (invertFootCenter) f = -f; + Vector3 origin = transformPosition + f; + + if (grounding.overstepFallsDown) + { + hit.point = origin - up * grounding.maxStep; + } + else + { + hit.point = new Vector3(origin.x, grounding.root.position.y, origin.z); + } + hit.normal = up; + + // Start point of the capsule + Vector3 capsuleStart = origin + grounding.maxStep * up; + // End point of the capsule depending on the foot's velocity. + Vector3 capsuleEnd = capsuleStart + offsetFromHeel; + + if (grounding.CapsuleCast(capsuleStart, capsuleEnd, grounding.footRadius, -up, out hit, grounding.maxStep * 2, grounding.layers, QueryTriggerInteraction.Ignore)) + { + // Safeguarding from a CapsuleCast bug in Unity that might cause it to return NaN for hit.point when cast against large colliders. + if (float.IsNaN(hit.point.x)) + { + hit.point = origin - up * grounding.maxStep * 2f; + hit.normal = up; + } + } + + // Since Unity2017 Raycasts will return Vector3.zero when starting from inside a collider + if (hit.point == Vector3.zero && hit.normal == Vector3.zero) + { + if (grounding.overstepFallsDown) + { + hit.point = origin - up * grounding.maxStep; + } + else + { + hit.point = new Vector3(origin.x, grounding.root.position.y, origin.z); + } + } + + return hit; + } + + // Get simple Raycast from the heel + private RaycastHit GetRaycastHit(Vector3 offsetFromHeel) + { + RaycastHit hit = new RaycastHit(); + Vector3 origin = transformPosition + offsetFromHeel; + + if (grounding.overstepFallsDown) + { + hit.point = origin - up * grounding.maxStep; + } + else + { + hit.point = new Vector3(origin.x, grounding.root.position.y, origin.z); + } + hit.normal = up; + + if (grounding.maxStep <= 0f) return hit; + + grounding.Raycast(origin + grounding.maxStep * up, -up, out hit, grounding.maxStep * 2, grounding.layers, QueryTriggerInteraction.Ignore); + + // Since Unity2017 Raycasts will return Vector3.zero when starting from inside a collider + if (hit.point == Vector3.zero && hit.normal == Vector3.zero) + { + if (grounding.overstepFallsDown) + { + hit.point = origin - up * grounding.maxStep; + } + else + { + hit.point = new Vector3(origin.x, grounding.root.position.y, origin.z); + } + } + + return hit; + } + + // Rotates ground normal with respect to maxFootRotationAngle + private Vector3 RotateNormal(Vector3 normal) { + if (grounding.quality == Grounding.Quality.Best) return normal; + return Vector3.RotateTowards(up, normal, grounding.maxFootRotationAngle * Mathf.Deg2Rad, deltaTime); + } + + // Set foot height from ground relative to a point + private void SetFootToPoint(Vector3 normal, Vector3 point) { + toHitNormal = Quaternion.FromToRotation(up, RotateNormal(normal)); + + heightFromGround = GetHeightFromGround(point); + } + + // Set foot height from ground relative to a plane + private void SetFootToPlane(Vector3 planeNormal, Vector3 planePoint, Vector3 heelHitPoint) { + planeNormal = RotateNormal(planeNormal); + toHitNormal = Quaternion.FromToRotation(up, planeNormal); + + Vector3 pointOnPlane = V3Tools.LineToPlane(transformPosition + up * grounding.maxStep, -up, planeNormal, planePoint); + + // Get the height offset of the point on the plane + heightFromGround = GetHeightFromGround(pointOnPlane); + + // Making sure the heel doesn't penetrate the ground + float heelHeight = GetHeightFromGround(heelHitPoint); + heightFromGround = Mathf.Clamp(heightFromGround, -Mathf.Infinity, heelHeight); + } + + // Calculate height offset of a point + private float GetHeightFromGround(Vector3 hitPoint) { + return grounding.GetVerticalOffset(transformPosition, hitPoint) - rootYOffset; + } + + // Adding ground normal offset to the foot's rotation + private void RotateFoot() { + // Getting the full target rotation + Quaternion rotationOffsetTarget = GetRotationOffsetTarget(); + + // Slerping the rotation offset + r = Quaternion.Slerp(r, rotationOffsetTarget, deltaTime * grounding.footRotationSpeed); + } + + // Gets the target hit normal offset as a Quaternion + private Quaternion GetRotationOffsetTarget() { + if (grounding.maxFootRotationAngle <= 0f) return Quaternion.identity; + if (grounding.maxFootRotationAngle >= 180f) return toHitNormal; + return Quaternion.RotateTowards(Quaternion.identity, toHitNormal, grounding.maxFootRotationAngle); + } + + // The foot's height from ground in the animation + private float rootYOffset { + get { + return grounding.GetVerticalOffset(transformPosition, grounding.root.position - up * grounding.heightOffset); + } + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs.meta new file mode 100644 index 00000000..426bd070 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingLeg.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 0098ae58c812d4f599afc603a2d8b4b0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs new file mode 100644 index 00000000..a8c6fd70 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs @@ -0,0 +1,82 @@ +using UnityEngine; +using System.Collections; +using RootMotion; + +namespace RootMotion.FinalIK { + + public partial class Grounding { + + /// + /// The %Grounding %Pelvis. + /// + public class Pelvis { + + /// + /// Offset of the pelvis as a Vector3. + /// + public Vector3 IKOffset { get; private set; } + /// + /// Scalar vertical offset of the pelvis. + /// + public float heightOffset { get; private set; } + + private Grounding grounding; + private Vector3 lastRootPosition; + private float damperF; + private bool initiated; + private float lastTime; + + // Initiating the pelvis + public void Initiate(Grounding grounding) { + this.grounding = grounding; + + initiated = true; + OnEnable(); + } + + // Set everything to 0 + public void Reset() { + this.lastRootPosition = grounding.root.transform.position; + lastTime = Time.deltaTime; + IKOffset = Vector3.zero; + heightOffset = 0f; + } + + // Should be called each time the pelvis is (re)activated + public void OnEnable() { + if (!initiated) return; + this.lastRootPosition = grounding.root.transform.position; + lastTime = Time.time; + } + + // Updates the pelvis position offset + public void Process(float lowestOffset, float highestOffset, bool isGrounded) { + if (!initiated) return; + + float deltaTime = Time.time - lastTime; + lastTime = Time.time; + if (deltaTime <= 0f) return; + + float offsetTarget = lowestOffset + highestOffset; + if (!grounding.rootGrounded) offsetTarget = 0f; + + // Interpolating the offset + heightOffset = Mathf.Lerp(heightOffset, offsetTarget, deltaTime * grounding.pelvisSpeed); + + // Damper + Vector3 rootDelta = (grounding.root.position - lastRootPosition); + lastRootPosition = grounding.root.position; + + // Fading out damper when ungrounded + damperF = Interp.LerpValue(damperF, isGrounded? 1f: 0f, 1f, 10f); + + // Calculating the final damper + heightOffset -= grounding.GetVerticalOffset(rootDelta, Vector3.zero) * grounding.pelvisDamper * damperF; + + // Update IK value + IKOffset = grounding.up * heightOffset; + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs.meta new file mode 100644 index 00000000..0e665a07 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Grounder/GroundingPelvis.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f32aae971577b4a689afe07820935737 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components.meta new file mode 100644 index 00000000..db69e280 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: f581c9c6c8e7b49b48ff9a8be3b47df3 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs new file mode 100644 index 00000000..1ed99c0e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs @@ -0,0 +1,53 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Aim %IK solver component. + /// + [HelpURL("https://www.youtube.com/watch?v=wT8fViZpLmQ&index=3&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Aim IK")] + public class AimIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page1.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_aim_i_k.html"); + } + + // Open a video tutorial about setting up the component + [ContextMenu("TUTORIAL VIDEO")] + void OpenSetupTutorial() { + Application.OpenURL("https://www.youtube.com/watch?v=wT8fViZpLmQ"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The Aim %IK solver. + /// + public IKSolverAim solver = new IKSolverAim(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs.meta new file mode 100644 index 00000000..70861cd0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/AimIK.cs.meta @@ -0,0 +1,17 @@ +fileFormatVersion: 2 +guid: 5013856973b27429d937d256dc082f2e +labels: +- InverseKinematics +- IK +- Aim +- AimingSystem +timeCreated: 1511881277 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: 14a4d69b319a04b75bb03f351a174cec, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs new file mode 100644 index 00000000..94cb2cd3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Arm %IK solver component. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page2.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Arm IK")] + public class ArmIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page2.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_arm_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The Arm %IK solver. + /// + public IKSolverArm solver = new IKSolverArm(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs.meta new file mode 100644 index 00000000..f4afd368 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/ArmIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 5d9643e11c77c0d4fb27fbcf6ff4839c +timeCreated: 1528379801 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs new file mode 100644 index 00000000..ea25dcfc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// CCD (Cyclic Coordinate Descent) %IK solver component. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page5.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/CCD IK")] + public class CCDIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page5.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_c_c_d_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The CCD %IK solver. + /// + public IKSolverCCD solver = new IKSolverCCD(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs.meta new file mode 100644 index 00000000..ea652813 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/CCDIK.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 98b9a1a9e9a934b23a7db351dd9ec69e +labels: +- InverseKinematics +- IK +- CCD +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: 79450243724744b44820e5468e418048, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs new file mode 100644 index 00000000..b24fed30 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs @@ -0,0 +1,47 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Forward and Backward Reaching %IK solver component. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page6.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/FABRIK")] + public class FABRIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page6.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_f_a_b_r_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The %FABRIK solver. + /// + public IKSolverFABRIK solver = new IKSolverFABRIK(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs.meta new file mode 100644 index 00000000..b7f7b434 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIK.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 52af154b35b9e48af96507346dc649ba +labels: +- InverseKinematics +- IK +- FABRIK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: 1ccc9218a62cd44dda0ddb5fa15c62cc, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs new file mode 100644 index 00000000..68a3d1e1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// %IK system for multiple branched %FABRIK chains. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page7.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/FABRIK Root")] + public class FABRIKRoot : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page7.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_f_a_b_r_i_k_root.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The %FABRIKRoot solver. + /// + public IKSolverFABRIKRoot solver = new IKSolverFABRIKRoot(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs.meta new file mode 100644 index 00000000..19bfd1c6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FABRIKRoot.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 6fb82f19cc3ce412892b525300de1141 +labels: +- InverseKinematics +- IK +- FABRIK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: 55f7720fb239042f08656d4ab294f5c5, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs new file mode 100644 index 00000000..4a6fd15d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs @@ -0,0 +1,160 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Full Body %IK System designed specifically for bipeds + /// + [HelpURL("https://www.youtube.com/watch?v=7__IafZGwvI&index=1&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Full Body Biped IK")] + public class FullBodyBipedIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page8.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_full_body_biped_i_k.html"); + } + + // Open a video tutorial about setting up the component + [ContextMenu("TUTORIAL VIDEO (SETUP)")] + void OpenSetupTutorial() { + Application.OpenURL("https://www.youtube.com/watch?v=7__IafZGwvI"); + } + + // Open a video tutorial about the component's inspector. + [ContextMenu("TUTORIAL VIDEO (INSPECTOR)")] + void OpenInspectorTutorial() { + Application.OpenURL("https://www.youtube.com/watch?v=tgRMsTphjJo"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The biped definition. Don't change refences directly in runtime, use SetReferences(BipedReferences references) instead. + /// + public BipedReferences references = new BipedReferences(); + + /// + /// The FullBodyBiped %IK solver. + /// + public IKSolverFullBodyBiped solver = new IKSolverFullBodyBiped(); + + /// + /// Sets the solver to new biped references. + /// + /// /// Biped references. + /// Root node. if null, will try to detect the root node bone automatically. + public void SetReferences(BipedReferences references, Transform rootNode) { + this.references = references; + solver.SetToReferences(this.references, rootNode); + } + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + + /// + /// Checks the biped references for errors. Returns true if error found. + /// + public bool ReferencesError(ref string errorMessage) { + // All the errors common to all bipeds + if (BipedReferences.SetupError(references, ref errorMessage)) return true; + + // All the errors specific to FBBIK + if (references.spine.Length == 0) { + errorMessage = "References has no spine bones assigned, can not initiate the solver."; + return true; + } + + if (solver.rootNode == null) { + errorMessage = "Root Node bone is null, can not initiate the solver."; + return true; + } + + if (solver.rootNode != references.pelvis) { + bool inSpine = false; + + for (int i = 0; i < references.spine.Length; i++) { + if (solver.rootNode == references.spine[i]) { + inSpine = true; + break; + } + } + + if (!inSpine) { + errorMessage = "The Root Node has to be one of the bones in the Spine or the Pelvis, can not initiate the solver."; + return true; + } + } + + return false; + } + + /// + /// Check for possible warnings with the biped references setup. Returns true if warning found. The solver can still run, but probably not how you expected. + /// + public bool ReferencesWarning(ref string warningMessage) { + // Check for all the warnings common to all bipeds + if (BipedReferences.SetupWarning(references, ref warningMessage)) return true; + + // Check for warnings specific to FBBIK + Vector3 toRightShoulder = references.rightUpperArm.position - references.leftUpperArm.position; + Vector3 shoulderToRootNode = solver.rootNode.position - references.leftUpperArm.position; + float dot = Vector3.Dot(toRightShoulder.normalized, shoulderToRootNode.normalized); + + if (dot > 0.95f) { + warningMessage = "The root node, the left upper arm and the right upper arm bones should ideally form a triangle that is as close to equilateral as possible. " + + "Currently the root node bone seems to be very close to the line between the left upper arm and the right upper arm bones. This might cause unwanted behaviour like the spine turning upside down when pulled by a hand effector." + + "Please set the root node bone to be one of the lower bones in the spine."; + return true; + } + + Vector3 toRightThigh = references.rightThigh.position - references.leftThigh.position; + Vector3 thighToRootNode = solver.rootNode.position - references.leftThigh.position; + dot = Vector3.Dot(toRightThigh.normalized, thighToRootNode.normalized); + + if (dot > 0.95f) { + warningMessage = "The root node, the left thigh and the right thigh bones should ideally form a triangle that is as close to equilateral as possible. " + + "Currently the root node bone seems to be very close to the line between the left thigh and the right thigh bones. This might cause unwanted behaviour like the hip turning upside down when pulled by an effector." + + "Please set the root node bone to be one of the higher bones in the spine."; + return true; + } + + return false; + } + + // Reinitiates the solver to the current references + [ContextMenu("Reinitiate")] + void Reinitiate() { + SetReferences(references, solver.rootNode); + } + + // Open the User Manual URL + [ContextMenu("Auto-detect References")] + void AutoDetectReferences() { + references = new BipedReferences(); + BipedReferences.AutoDetectReferences(ref references, transform, new BipedReferences.AutoDetectParams(true, false)); + + solver.rootNode = IKSolverFullBodyBiped.DetectRootNodeBone(references); + + solver.SetToReferences(references, solver.rootNode); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs.meta new file mode 100644 index 00000000..b72327d5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/FullBodyBipedIK.cs.meta @@ -0,0 +1,16 @@ +fileFormatVersion: 2 +guid: a70e525c82ce9413fa4d940ad7fcf1db +labels: +- InverseKinematics +- IK +- FullBodyIK +timeCreated: 1519038538 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9999 + icon: {fileID: 2800000, guid: 89e0c79ada10847639ab1754e12413a7, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs new file mode 100644 index 00000000..8aa3a890 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs @@ -0,0 +1,50 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Base abstract class for %IK solver components. + /// + public abstract class IK: SolverManager { + + #region Main Interface + + /// + /// Gets the %IK component's solver as IKSolver. + /// + public abstract IKSolver GetIKSolver(); + + #endregion Main Interface + + /* + * Updates the solver. If you need full control of the execution order of your IK solvers, disable this script and call UpdateSolver() instead. + * */ + protected override void UpdateSolver() { + if (!GetIKSolver().initiated) InitiateSolver(); + if (!GetIKSolver().initiated) return; + + GetIKSolver().Update(); + } + + /* + * Initiates the %IK solver + * */ + protected override void InitiateSolver() { + if (GetIKSolver().initiated) return; + + GetIKSolver().Initiate(transform); + } + + protected override void FixTransforms() { + if (!GetIKSolver().initiated) return; + GetIKSolver().FixTransforms(); + } + + // Open the User Manual url + protected abstract void OpenUserManual(); + + // Open the Script Reference url + protected abstract void OpenScriptReference(); + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs.meta new file mode 100644 index 00000000..9756a8f1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e8ad84abaddc346b9a51365d3dc292e7 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs new file mode 100644 index 00000000..4a469148 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs @@ -0,0 +1,68 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Manages the execution order of IK components. + /// + public class IKExecutionOrder : MonoBehaviour { + + /// + /// The IK components, assign in the order in which you wish to update them. + /// + [Tooltip("The IK components, assign in the order in which you wish to update them.")] + public IK[] IKComponents; + + [Tooltip("Optional. Assign it if you are using 'Animate Physics' as the Update Mode.")] + /// + /// Optional. Assign it if you are using 'Animate Physics' as the Update Mode. + /// + public Animator animator; + + private bool fixedFrame; + + private bool animatePhysics { + get { + if (animator == null) return false; + return animator.updateMode == AnimatorUpdateMode.Fixed; + } + } + + // Disable the IK components + void Start() { + for (int i = 0; i < IKComponents.Length; i++) IKComponents[i].enabled = false; + } + + // Fix Transforms in Normal update mode + void Update() { + if (animatePhysics) return; + + FixTransforms (); + } + + // Fix Transforms in Animate Physics update mode + void FixedUpdate() { + fixedFrame = true; + + if (animatePhysics) FixTransforms (); + } + + // Update the IK components in a specific order + void LateUpdate() { + if (!animatePhysics || fixedFrame) { + for (int i = 0; i < IKComponents.Length; i++) { + IKComponents [i].GetIKSolver ().Update (); + } + + fixedFrame = false; + } + } + + private void FixTransforms() { + for (int i = 0; i < IKComponents.Length; i++) { + if (IKComponents[i].fixTransforms) IKComponents[i].GetIKSolver().FixTransforms(); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs.meta new file mode 100644 index 00000000..cffc880e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/IKExecutionOrder.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 36737232c1e1646399fa0c8cbc087280 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9996 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs new file mode 100644 index 00000000..df7f9cbb --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Leg %IK solver component. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page11.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Leg IK")] + public class LegIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page11.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_leg_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The Leg %IK solver. + /// + public IKSolverLeg solver = new IKSolverLeg(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs.meta new file mode 100644 index 00000000..c504cac0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LegIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: d45baccdcad47264da4758094969d5d5 +timeCreated: 1487060958 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs new file mode 100644 index 00000000..1f8008ab --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// %IK component for IKSolverLimb. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page12.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Limb IK")] + public class LimbIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page12.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_limb_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The Limb %IK solver. + /// + public IKSolverLimb solver = new IKSolverLimb(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs.meta new file mode 100644 index 00000000..d5978150 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LimbIK.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 4db3c450680fd4c809d5ad90a2f24e5f +labels: +- InverseKinematics +- IK +- LimbIK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: e747b4712fd43444ab8213b7ff4c089b, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs new file mode 100644 index 00000000..aa3cc5d2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Rotates a hierarchy of bones to face a target + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page13.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Look At IK")] + public class LookAtIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page13.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_look_at_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The LookAt %IK solver. + /// + public IKSolverLookAt solver = new IKSolverLookAt(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs.meta new file mode 100644 index 00000000..b5cc71a5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/LookAtIK.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 776adaaacdc5c4e8ab0395120a6e972b +labels: +- InverseKinematics +- IK +- LookAtIK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: dc3f34dec09f54c4d8a48bf1a653b179, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs new file mode 100644 index 00000000..6219d8d0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Analytic %IK algorithm based on the law of cosines + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page15.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/Trigonometric IK")] + public class TrigonometricIK : IK { + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page15.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_trigonometric_i_k.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// The Trigonometric %IK solver. + /// + public IKSolverTrigonometric solver = new IKSolverTrigonometric(); + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs.meta new file mode 100644 index 00000000..72328975 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/TrigonometricIK.cs.meta @@ -0,0 +1,14 @@ +fileFormatVersion: 2 +guid: 76b6217e3524c44358e310a531792c50 +labels: +- InverseKinematics +- IK +- LimbIK +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9997 + icon: {fileID: 2800000, guid: ff34b0ecb22e7466fbd0a856b7a00621, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs new file mode 100644 index 00000000..9bd4daf6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs @@ -0,0 +1,312 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; + +namespace RootMotion.FinalIK { + + /// + /// A full-body IK solver designed specifically for a VR HMD and hand controllers. + /// + //[HelpURL("http://www.root-motion.com/finalikdox/html/page16.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/IK/VR IK")] + public class VRIK : IK { + + /// + /// VRIK-specific definition of a humanoid biped. + /// + [System.Serializable] + public class References { + public Transform root; // 0 + + [LargeHeader("Spine")] + public Transform pelvis; // 1 + public Transform spine; // 2 + + [Tooltip("Optional")] + public Transform chest; // 3 Optional + + [Tooltip("Optional")] + public Transform neck; // 4 Optional + public Transform head; // 5 + + [LargeHeader("Left Arm")] + [Tooltip("Optional")] + public Transform leftShoulder; // 6 Optional + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform leftUpperArm; // 7 + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform leftForearm; // 8 + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform leftHand; // 9 + + [LargeHeader("Right Arm")] + [Tooltip("Optional")] + public Transform rightShoulder; // 10 Optional + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform rightUpperArm; // 11 + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform rightForearm; // 12 + [Tooltip("VRIK also supports armless characters.If you do not wish to use arms, leave all arm references empty.")] + public Transform rightHand; // 13 + + [LargeHeader("Left Leg")] + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform leftThigh; // 14 Optional + + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform leftCalf; // 15 Optional + + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform leftFoot; // 16 Optional + + [Tooltip("Optional")] + public Transform leftToes; // 17 Optional + + [LargeHeader("Right Leg")] + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform rightThigh; // 18 Optional + + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform rightCalf; // 19 Optional + + [Tooltip("VRIK also supports legless characters.If you do not wish to use legs, leave all leg references empty.")] + public Transform rightFoot; // 20 Optional + + [Tooltip("Optional")] + public Transform rightToes; // 21 Optional + + public References() { } + + public References(BipedReferences b) + { + root = b.root; + pelvis = b.pelvis; + spine = b.spine[0]; + chest = b.spine.Length > 1? b.spine[1]: null; + head = b.head; + + leftShoulder = b.leftUpperArm.parent; + leftUpperArm = b.leftUpperArm; + leftForearm = b.leftForearm; + leftHand = b.leftHand; + + rightShoulder = b.rightUpperArm.parent; + rightUpperArm = b.rightUpperArm; + rightForearm = b.rightForearm; + rightHand = b.rightHand; + + leftThigh = b.leftThigh; + leftCalf = b.leftCalf; + leftFoot = b.leftFoot; + leftToes = b.leftFoot.GetChild(0); + + rightThigh = b.rightThigh; + rightCalf = b.rightCalf; + rightFoot = b.rightFoot; + rightToes = b.rightFoot.GetChild(0); + } + + /// + /// Returns an array of all the Transforms in the definition. + /// + public Transform[] GetTransforms() { + return new Transform[22] { + root, pelvis, spine, chest, neck, head, leftShoulder, leftUpperArm, leftForearm, leftHand, rightShoulder, rightUpperArm, rightForearm, rightHand, leftThigh, leftCalf, leftFoot, leftToes, rightThigh, rightCalf, rightFoot, rightToes + }; + } + + /// + /// Returns true if all required Transforms have been assigned (shoulder, toe and neck bones are optional). + /// + public bool isFilled { + get { + if ( + root == null || + pelvis == null || + spine == null || + head == null + ) return false; + + bool noArmBones = + leftUpperArm == null && + leftForearm == null && + leftHand == null && + rightUpperArm == null && + rightForearm == null && + rightHand == null; + + bool atLeastOneArmBoneMissing = + leftUpperArm == null || + leftForearm == null || + leftHand == null || + rightUpperArm == null || + rightForearm == null || + rightHand == null; + + // If all leg bones are null, it is valid + bool noLegBones = + leftThigh == null && + leftCalf == null && + leftFoot == null && + rightThigh == null && + rightCalf == null && + rightFoot == null; + + bool atLeastOneLegBoneMissing = + leftThigh == null || + leftCalf == null || + leftFoot == null || + rightThigh == null || + rightCalf == null || + rightFoot == null; + + if (atLeastOneLegBoneMissing && !noLegBones) return false; + if (atLeastOneArmBoneMissing && !noArmBones) return false; + + // Shoulder, toe and neck bones are optional + return true; + } + } + + /// + /// Returns true if none of the Transforms have been assigned. + /// + public bool isEmpty { + get { + if ( + root != null || + pelvis != null || + spine != null || + chest != null || + neck != null || + head != null || + leftShoulder != null || + leftUpperArm != null || + leftForearm != null || + leftHand != null || + rightShoulder != null || + rightUpperArm != null || + rightForearm != null || + rightHand != null || + leftThigh != null || + leftCalf != null || + leftFoot != null || + leftToes != null || + rightThigh != null || + rightCalf != null || + rightFoot != null || + rightToes != null + ) return false; + + return true; + } + } + + /// + /// Auto-detects VRIK references. Works with a Humanoid Animator on the root gameobject only. + /// + public static bool AutoDetectReferences(Transform root, out References references) { + references = new References(); + + var animator = root.GetComponentInChildren(); + if (animator == null || !animator.isHuman) { + Debug.LogWarning("VRIK needs a Humanoid Animator to auto-detect biped references. Please assign references manually."); + return false; + } + + references.root = root; + references.pelvis = animator.GetBoneTransform(HumanBodyBones.Hips); + references.spine = animator.GetBoneTransform(HumanBodyBones.Spine); + references.chest = animator.GetBoneTransform(HumanBodyBones.Chest); + references.neck = animator.GetBoneTransform(HumanBodyBones.Neck); + references.head = animator.GetBoneTransform(HumanBodyBones.Head); + references.leftShoulder = animator.GetBoneTransform(HumanBodyBones.LeftShoulder); + references.leftUpperArm = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm); + references.leftForearm = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm); + references.leftHand = animator.GetBoneTransform(HumanBodyBones.LeftHand); + references.rightShoulder = animator.GetBoneTransform(HumanBodyBones.RightShoulder); + references.rightUpperArm = animator.GetBoneTransform(HumanBodyBones.RightUpperArm); + references.rightForearm = animator.GetBoneTransform(HumanBodyBones.RightLowerArm); + references.rightHand = animator.GetBoneTransform(HumanBodyBones.RightHand); + references.leftThigh = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg); + references.leftCalf = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg); + references.leftFoot = animator.GetBoneTransform(HumanBodyBones.LeftFoot); + references.leftToes = animator.GetBoneTransform(HumanBodyBones.LeftToes); + references.rightThigh = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg); + references.rightCalf = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg); + references.rightFoot = animator.GetBoneTransform(HumanBodyBones.RightFoot); + references.rightToes = animator.GetBoneTransform(HumanBodyBones.RightToes); + + return true; + } + } + + // Open the User Manual URL + [ContextMenu("User Manual")] + protected override void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page16.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + protected override void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_v_r_i_k.html"); + } + + // Open a video tutorial about setting up the component + [ContextMenu("TUTORIAL VIDEO (STEAMVR SETUP)")] + void OpenSetupTutorial() { + Application.OpenURL("https://www.youtube.com/watch?v=6Pfx7lYQiIA&feature=youtu.be"); + } + + /// + /// Bone mapping. Right-click on the component header and select 'Auto-detect References' of fill in manually if not a Humanoid character. Chest, neck, shoulder and toe bones are optional. VRIK also supports legless characters. If you do not wish to use legs, leave all leg references empty. + /// + [ContextMenuItem("Auto-detect References", "AutoDetectReferences")] + [Tooltip("Bone mapping. Right-click on the component header and select 'Auto-detect References' of fill in manually if not a Humanoid character. Chest, neck, shoulder and toe bones are optional. VRIK also supports legless characters. If you do not wish to use legs, leave all leg references empty.")] + public References references = new References(); + + /// + /// The solver. + /// + [Tooltip("The VRIK solver.")] + public IKSolverVR solver = new IKSolverVR(); + + /// + /// Auto-detects bone references for this VRIK. Works with a Humanoid Animator on the gameobject only. + /// + [ContextMenu("Auto-detect References")] + public void AutoDetectReferences() { + References.AutoDetectReferences(transform, out references); + } + + /// + /// Fills in arm wristToPalmAxis and palmToThumbAxis. + /// + [ContextMenu("Guess Hand Orientations")] + public void GuessHandOrientations() { + solver.GuessHandOrientations(references, false); + } + + public override IKSolver GetIKSolver() { + return solver as IKSolver; + } + + protected override void InitiateSolver() { + if (references.isEmpty) AutoDetectReferences(); + if (references.isFilled) solver.SetToReferences(references); + + base.InitiateSolver(); + } + + protected override void UpdateSolver() { + if (references.root != null && references.root.localScale == Vector3.zero) { + Debug.LogError("VRIK Root Transform's scale is zero, can not update VRIK. Make sure you have not calibrated the character to a zero scale.", transform); + enabled = false; + return; + } + + base.UpdateSolver(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs.meta new file mode 100644 index 00000000..1baa251a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Components/VRIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: bfac4fa329d1f4f23814af71a247c14b +timeCreated: 1461012361 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 9998 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers.meta new file mode 100644 index 00000000..23ec41c4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 2d4e0595d55fb47ee8908aa6fd3ecf9d +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs new file mode 100644 index 00000000..a7767ae7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs @@ -0,0 +1,122 @@ +using UnityEngine; +using System.Collections; + + namespace RootMotion.FinalIK { + + /// + /// Branch of FABRIK components in the FABRIKRoot hierarchy. + /// + [System.Serializable] + public class FABRIKChain { + + #region Main Interface + + /// + /// The FABRIK component. + /// + public FABRIK ik; + /// + /// Parent pull weight. + /// + [Range(0f, 1f)] + public float pull = 1f; + /// + /// Resistance to being pulled by child chains. + /// + [Range(0f, 1f)] + public float pin = 1f; + /// + /// The child chain indexes. + /// + public int[] children = new int[0]; + + /// + /// Checks whether this FABRIKChain is valid. + /// + public bool IsValid(ref string message) { + if (ik == null) { + message = "IK unassigned in FABRIKChain."; + return false; + } + + if (!ik.solver.IsValid(ref message)) return false; + + return true; + } + + #endregion Main Interface + + /* + * Initiate the chain + * */ + public void Initiate() { + ik.enabled = false; + } + + /* + * Solving stage 1 of the FABRIK algorithm from end effectors towards the root. + * */ + public void Stage1(FABRIKChain[] chain) { + // Solving children first + for (int i = 0; i < children.Length; i++) chain[children[i]].Stage1(chain); + + // The last chains + if (children.Length == 0) { + ik.solver.SolveForward(ik.solver.GetIKPosition()); + return; + } + + ik.solver.SolveForward(GetCentroid(chain)); + } + + /* + * Solving stage 2 of the FABRIK algoright from the root to the end effectors. + * */ + public void Stage2(Vector3 rootPosition, FABRIKChain[] chain) { + // Solve this chain backwards + ik.solver.SolveBackward(rootPosition); + + // Solve child chains + for (int i = 0; i < children.Length; i++) { + chain[children[i]].Stage2(ik.solver.bones[ik.solver.bones.Length - 1].transform.position, chain); + } + } + + // Calculate the centroid of child positions + private Vector3 GetCentroid(FABRIKChain[] chain) { + Vector3 position = ik.solver.GetIKPosition(); + + // The chain is pinned, ignore the children + if (pin >= 1f) return position; + + // Get the sum of the pull values of all the children + float pullSum = 0f; + for (int i = 0; i < children.Length; i++) pullSum += chain[children[i]].pull; + + // All pull values are zero + if (pullSum <= 0f) return position; + + if (pullSum < 1f) pullSum = 1f; + + // Calculating the centroid + Vector3 centroid = position; + + for (int i = 0; i < children.Length; i++) { + // Vector from IKPosition to the first bone of the child + Vector3 toChild = chain[children[i]].ik.solver.bones[0].solverPosition - position; + + // Weight of the child + float childWeight = chain[children[i]].pull / pullSum; + + // Adding to the centroid + centroid += toChild * childWeight; + } + + // No pinning + if (pin <= 0f) return centroid; + + // Pinning + return centroid + (position - centroid) * pin; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs.meta new file mode 100644 index 00000000..e631c220 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FABRIKChain.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c9a2b10b17d604bb2a4d1bff880fc61a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs new file mode 100644 index 00000000..df60d428 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs @@ -0,0 +1,66 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK { + + /// + /// Calculates bending direction and hand rotations for a FBBIK rig for VR hand controllers. + /// + public class FBBIKArmBending : MonoBehaviour { + + public FullBodyBipedIK ik; + + // Bend direction offset for the arms + public Vector3 bendDirectionOffsetLeft; + public Vector3 bendDirectionOffsetRight; + + // Add some bend direction offset in character space + public Vector3 characterSpaceBendOffsetLeft; + public Vector3 characterSpaceBendOffsetRight; + + private Quaternion leftHandTargetRotation; + private Quaternion rightHandTargetRotation; + private bool initiated; + + void LateUpdate() { + if (ik == null) return; + + if (!initiated) { + ik.solver.OnPostUpdate += OnPostFBBIK; + initiated = true; + } + + // Left arm bend direction + if (ik.solver.leftHandEffector.target != null) { + Vector3 armAxisLeft = Vector3.left; + ik.solver.leftArmChain.bendConstraint.direction = ik.solver.leftHandEffector.target.rotation * armAxisLeft + ik.solver.leftHandEffector.target.rotation * bendDirectionOffsetLeft + ik.transform.rotation * characterSpaceBendOffsetLeft; + ik.solver.leftArmChain.bendConstraint.weight = 1f; + } + + // Right arm bend direction + if (ik.solver.rightHandEffector.target != null) { + Vector3 armAxisRight = Vector3.right; + ik.solver.rightArmChain.bendConstraint.direction = ik.solver.rightHandEffector.target.rotation * armAxisRight + ik.solver.rightHandEffector.target.rotation * bendDirectionOffsetRight + ik.transform.rotation * characterSpaceBendOffsetRight; + ik.solver.rightArmChain.bendConstraint.weight = 1f; + } + } + + void OnPostFBBIK() { + if (ik == null) return; + + // Rotate hand bones + if (ik.solver.leftHandEffector.target != null) { + ik.references.leftHand.rotation = ik.solver.leftHandEffector.target.rotation; + } + + if (ik.solver.rightHandEffector.target != null) { + ik.references.rightHand.rotation = ik.solver.rightHandEffector.target.rotation; + } + } + + void OnDestroy() { + if (ik != null) ik.solver.OnPostUpdate -= OnPostFBBIK; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs.meta new file mode 100644 index 00000000..c7ba8721 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKArmBending.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: e6c4fa4d3ae33fb44b29d48945f7a129 +timeCreated: 1453857262 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs new file mode 100644 index 00000000..e8b081bc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs @@ -0,0 +1,395 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Head effector for FBBIK. + /// + public class FBBIKHeadEffector : MonoBehaviour { + + [Tooltip("Reference to the FBBIK component.")] + public FullBodyBipedIK ik; + + [LargeHeader("Position")] + [Tooltip("Master weight for positioning the head.")] + [Range(0f, 1f)] public float positionWeight = 1f; + + [Tooltip("The weight of moving the body along with the head")] + [Range(0f, 1f)] public float bodyWeight = 0.8f; + + [Tooltip("The weight of moving the thighs along with the head")] + [Range(0f, 1f)] public float thighWeight = 0.8f; + + [Tooltip("If false, hands will not pull the head away if they are too far. Disabling this will improve performance significantly.")] + public bool handsPullBody = true; + + [LargeHeader("Rotation")] + [Tooltip("The weight of rotating the head bone after solving")] + [Range(0f, 1f)] public float rotationWeight = 0f; + + [Tooltip("Clamping the rotation of the body")] + [Range(0f, 1f)] public float bodyClampWeight = 0.5f; + + [Tooltip("Clamping the rotation of the head")] + [Range(0f, 1f)] public float headClampWeight = 0.5f; + + [Tooltip("The master weight of bending/twisting the spine to the rotation of the head effector. This is similar to CCD, but uses the rotation of the head effector not the position.")] + [Range(0f, 1f)] public float bendWeight = 1f; + + [Tooltip("The bones to use for bending.")] + public BendBone[] bendBones = new BendBone[0]; + + [System.Serializable] + public class BendBone { + + [Tooltip("Assign spine and/or neck bones.")] + public Transform transform; + + [Tooltip("The weight of rotating this bone.")] + [Range(0f, 1f)] public float weight = 0.5f; + + private Quaternion defaultLocalRotation = Quaternion.identity; + + public BendBone() {} + + public BendBone(Transform transform, float weight) { + this.transform = transform; + this.weight = weight; + } + + public void StoreDefaultLocalState() { + defaultLocalRotation = transform.localRotation; + } + + public void FixTransforms() { + transform.localRotation = defaultLocalRotation; + } + } + + [LargeHeader("CCD")] + [Tooltip("Optional. The master weight of the CCD (Cyclic Coordinate Descent) IK effect that bends the spine towards the head effector before FBBIK solves.")] + [Range(0f, 1f)] public float CCDWeight = 1f; + + [Tooltip("The weight of rolling the bones in towards the target")] + [Range(0f, 1f)] public float roll = 0f; + + [Tooltip("Smoothing the CCD effect.")] + [Range(0f, 1000f)] public float damper = 500f; + + [Tooltip("Bones to use for the CCD pass. Assign spine and/or neck bones.")] + public Transform[] CCDBones = new Transform[0]; + + [LargeHeader("Stretching")] + [Tooltip("Stretching the spine/neck to help reach the target. This is useful for making sure the head stays locked relative to the VR headset. NB! Stretching is done after FBBIK has solved so if you have the hand effectors pinned and spine bones included in the 'Stretch Bones', the hands might become offset from their target positions.")] + [Range(0f, 1f)] public float postStretchWeight = 1f; + + [Tooltip("Stretch magnitude limit.")] + public float maxStretch = 0.1f; + [Tooltip("If > 0, dampers the stretching effect.")] + public float stretchDamper = 0f; + [Tooltip("If true, will fix head position to this Transform no matter what. Good for making sure the head will not budge away from the VR headset")] + public bool fixHead; + [Tooltip("Bones to use for stretching. The more bones you add, the less noticable the effect.")] + public Transform[] stretchBones = new Transform[0]; + + [LargeHeader("Chest Direction")] + public Vector3 chestDirection = Vector3.forward; + [Range(0f, 1f)] public float chestDirectionWeight = 1f; + public Transform[] chestBones = new Transform[0]; + + public IKSolver.UpdateDelegate OnPostHeadEffectorFK; + + private Vector3 offset, headToBody, shoulderCenterToHead, headToLeftThigh, headToRightThigh, leftShoulderPos, rightShoulderPos; + private float shoulderDist, leftShoulderDist, rightShoulderDist; + private Quaternion chestRotation; + private Quaternion headRotationRelativeToRoot; + private Quaternion[] ccdDefaultLocalRotations = new Quaternion[0]; + private Vector3 headLocalPosition; + private Quaternion headLocalRotation; + private Vector3[] stretchLocalPositions = new Vector3[0]; + private Quaternion[] stretchLocalRotations = new Quaternion[0]; + private Vector3[] chestLocalPositions = new Vector3[0]; + private Quaternion[] chestLocalRotations = new Quaternion[0]; + private int bendBonesCount; + private int ccdBonesCount; + private int stretchBonesCount; + private int chestBonesCount; + + // Register to get messages from the FBBIK + void Start() { + ik.solver.OnPreRead += OnPreRead; + ik.solver.OnPreIteration += Iterate; + ik.solver.OnPostUpdate += OnPostUpdate; + ik.solver.OnStoreDefaultLocalState += OnStoreDefaultLocalState; + ik.solver.OnFixTransforms += OnFixTransforms; + + OnStoreDefaultLocalState(); + + headRotationRelativeToRoot = Quaternion.Inverse(ik.references.root.rotation) * ik.references.head.rotation; + } + + // Store the default local positions and rotations of the bones used by this head effector. + private void OnStoreDefaultLocalState() { + foreach (BendBone bendBone in bendBones) { + if (bendBone != null) bendBone.StoreDefaultLocalState(); + } + + ccdDefaultLocalRotations = new Quaternion[CCDBones.Length]; + for (int i = 0; i < CCDBones.Length; i++) { + if (CCDBones[i] != null) ccdDefaultLocalRotations[i] = CCDBones[i].localRotation; + } + + headLocalPosition = ik.references.head.localPosition; + headLocalRotation = ik.references.head.localRotation; + + stretchLocalPositions = new Vector3[stretchBones.Length]; + stretchLocalRotations = new Quaternion[stretchBones.Length]; + for (int i = 0; i < stretchBones.Length; i++) { + if (stretchBones[i] != null) { + stretchLocalPositions[i] = stretchBones[i].localPosition; + stretchLocalRotations[i] = stretchBones[i].localRotation; + } + } + + chestLocalPositions = new Vector3[chestBones.Length]; + chestLocalRotations = new Quaternion[chestBones.Length]; + for (int i = 0; i < chestBones.Length; i++) { + if (chestBones[i] != null) { + chestLocalPositions[i] = chestBones[i].localPosition; + chestLocalRotations[i] = chestBones[i].localRotation; + } + } + + bendBonesCount = bendBones.Length; + ccdBonesCount = CCDBones.Length; + stretchBonesCount = stretchBones.Length; + chestBonesCount = chestBones.Length; + } + + // Fix the bones used by this head effector to their default local state + private void OnFixTransforms() { + if (!enabled) return; + + foreach (BendBone bendBone in bendBones) { + if (bendBone != null) bendBone.FixTransforms(); + } + + for (int i = 0; i < CCDBones.Length; i++) { + if (CCDBones[i] != null) CCDBones[i].localRotation = ccdDefaultLocalRotations[i]; + } + + ik.references.head.localPosition = headLocalPosition; + ik.references.head.localRotation = headLocalRotation; + + for (int i = 0; i < stretchBones.Length; i++) { + if (stretchBones[i] != null) { + stretchBones[i].localPosition = stretchLocalPositions[i]; + stretchBones[i].localRotation = stretchLocalRotations[i]; + } + } + + for (int i = 0; i < chestBones.Length; i++) { + if (chestBones[i] != null) { + chestBones[i].localPosition = chestLocalPositions[i]; + chestBones[i].localRotation = chestLocalRotations[i]; + } + } + } + + // Called by the FBBIK each time before it reads the pose + private void OnPreRead() { + if (!enabled) return; + if (!gameObject.activeInHierarchy) return; + + if (ik.solver.iterations == 0) return; + + ik.solver.FABRIKPass = handsPullBody; + + if (bendBonesCount != bendBones.Length || ccdBonesCount != CCDBones.Length || stretchBonesCount != stretchBones.Length || chestBonesCount != chestBones.Length) OnStoreDefaultLocalState(); + + // Chest direction + ChestDirection(); + + // Spine Bend + SpineBend (); + + // CCD + CCDPass(); + + // Body + offset = transform.position - ik.references.head.position; + + shoulderDist = Vector3.Distance(ik.references.leftUpperArm.position, ik.references.rightUpperArm.position); + leftShoulderDist = Vector3.Distance(ik.references.head.position, ik.references.leftUpperArm.position); + rightShoulderDist = Vector3.Distance(ik.references.head.position, ik.references.rightUpperArm.position); + + headToBody = ik.solver.rootNode.position - ik.references.head.position; + headToLeftThigh = ik.references.leftThigh.position - ik.references.head.position; + headToRightThigh = ik.references.rightThigh.position - ik.references.head.position; + + leftShoulderPos = ik.references.leftUpperArm.position + offset * bodyWeight; + rightShoulderPos = ik.references.rightUpperArm.position + offset * bodyWeight; + + chestRotation = Quaternion.LookRotation(ik.references.head.position - ik.references.leftUpperArm.position, ik.references.rightUpperArm.position - ik.references.leftUpperArm.position); + + if (OnPostHeadEffectorFK != null) OnPostHeadEffectorFK (); + } + + // Bending the spine to the head effector + private void SpineBend() { + float w = bendWeight * ik.solver.IKPositionWeight; + + if (w <= 0f) return; + if (bendBones.Length == 0) return; + + Quaternion rotation = transform.rotation * Quaternion.Inverse(ik.references.root.rotation * headRotationRelativeToRoot); + rotation = QuaTools.ClampRotation(rotation, bodyClampWeight, 2); + + float step = 1f / bendBones.Length; + + for (int i = 0; i < bendBones.Length; i++) { + if (bendBones[i].transform != null) { + bendBones[i].transform.rotation = Quaternion.Lerp(Quaternion.identity, rotation, step * bendBones[i].weight * w) * bendBones[i].transform.rotation; + } + } + } + + // Single CCD pass to make the spine less stiff + private void CCDPass() { + float w = CCDWeight * ik.solver.IKPositionWeight; + + if (w <= 0f) return; + + for (int i = CCDBones.Length - 1; i > -1; i--) { + Quaternion r = Quaternion.FromToRotation(ik.references.head.position - CCDBones[i].position, transform.position - CCDBones[i].position) * CCDBones[i].rotation; + float d = Mathf.Lerp((CCDBones.Length - i) / CCDBones.Length, 1f, roll); + float a = Quaternion.Angle(Quaternion.identity, r); + + a = Mathf.Lerp(0f, a, (damper - a) / damper); + + CCDBones[i].rotation = Quaternion.RotateTowards(CCDBones[i].rotation, r, a * w * d); + } + } + + //private float leftArmLength; + + // Called by the FBBIK before each solver iteration + private void Iterate(int iteration) { + if (!enabled) return; + if (!gameObject.activeInHierarchy) return; + + if (ik.solver.iterations == 0) return; + + // Shoulders + leftShoulderPos = transform.position + (leftShoulderPos - transform.position).normalized * leftShoulderDist; + rightShoulderPos = transform.position + (rightShoulderPos - transform.position).normalized * rightShoulderDist; + + Solve (ref leftShoulderPos, ref rightShoulderPos, shoulderDist); + + LerpSolverPosition(ik.solver.leftShoulderEffector, leftShoulderPos, positionWeight * ik.solver.IKPositionWeight, ik.solver.leftShoulderEffector.positionOffset); + LerpSolverPosition(ik.solver.rightShoulderEffector, rightShoulderPos, positionWeight * ik.solver.IKPositionWeight, ik.solver.rightShoulderEffector.positionOffset); + + // Body + Quaternion chestRotationSolved = Quaternion.LookRotation(transform.position - leftShoulderPos, rightShoulderPos - leftShoulderPos); + Quaternion rBody = QuaTools.FromToRotation(chestRotation, chestRotationSolved); + + Vector3 headToBodySolved = rBody * headToBody; + LerpSolverPosition(ik.solver.bodyEffector, transform.position + headToBodySolved, positionWeight * ik.solver.IKPositionWeight, ik.solver.bodyEffector.positionOffset - ik.solver.pullBodyOffset); + + // Thighs + Quaternion rThighs = Quaternion.Lerp(Quaternion.identity, rBody, thighWeight); + + Vector3 headToLeftThighSolved = rThighs * headToLeftThigh; + Vector3 headToRightThighSolved = rThighs * headToRightThigh; + + + LerpSolverPosition(ik.solver.leftThighEffector, transform.position + headToLeftThighSolved, positionWeight * ik.solver.IKPositionWeight, (ik.solver.bodyEffector.positionOffset - ik.solver.pullBodyOffset) + ik.solver.leftThighEffector.positionOffset); + LerpSolverPosition(ik.solver.rightThighEffector, transform.position + headToRightThighSolved, positionWeight * ik.solver.IKPositionWeight, (ik.solver.bodyEffector.positionOffset - ik.solver.pullBodyOffset) + ik.solver.rightThighEffector.positionOffset); + } + + // Called by the FBBIK each time it is finished updating + private void OnPostUpdate() { + if (!enabled) return; + if (!gameObject.activeInHierarchy) return; + + // Stretching the spine and neck + PostStretching (); + + // Rotate the head bone + Quaternion headRotation = QuaTools.FromToRotation(ik.references.head.rotation, transform.rotation); + headRotation = QuaTools.ClampRotation(headRotation, headClampWeight, 2); + + ik.references.head.rotation = Quaternion.Lerp(Quaternion.identity, headRotation, rotationWeight * ik.solver.IKPositionWeight) * ik.references.head.rotation; + } + + private void ChestDirection() { + float w = chestDirectionWeight * ik.solver.IKPositionWeight; + if (w <= 0f) return; + + bool changed = false; + chestDirection = RootMotion.V3Tools.ClampDirection(chestDirection, ik.references.root.forward, 0.45f, 2, out changed); + + if (chestDirection == Vector3.zero) return; + + Quaternion q = Quaternion.FromToRotation (ik.references.root.forward, chestDirection); + q = Quaternion.Lerp (Quaternion.identity, q, w * (1f / chestBones.Length)); + + foreach (Transform bone in chestBones) { + bone.rotation = q * bone.rotation; + } + } + + // Stretching the spine/neck to help reach the target. This is most useful for making sure the head stays locked relative to the VR controller + private void PostStretching() { + float w = postStretchWeight * ik.solver.IKPositionWeight; + + if (w > 0f) { + Vector3 stretch = Vector3.ClampMagnitude(transform.position - ik.references.head.position, maxStretch); + stretch *= w; + + stretchDamper = Mathf.Max (stretchDamper, 0f); + if (stretchDamper > 0f) stretch /= (1f + stretch.magnitude) * (1f + stretchDamper); + + for (int i = 0; i < stretchBones.Length; i++) { + if (stretchBones[i] != null) stretchBones[i].position += stretch / stretchBones.Length; + } + } + if (fixHead && ik.solver.IKPositionWeight > 0f) ik.references.head.position = transform.position; + } + + // Interpolate the solver position of the effector + private void LerpSolverPosition(IKEffector effector, Vector3 position, float weight, Vector3 offset) { + effector.GetNode(ik.solver).solverPosition = Vector3.Lerp(effector.GetNode(ik.solver).solverPosition, position + offset, weight); + } + + // Solve a simple linear constraint + private void Solve(ref Vector3 pos1, ref Vector3 pos2, float nominalDistance) { + Vector3 direction = pos2 - pos1; + + float distance = direction.magnitude; + if (distance == nominalDistance) return; + if (distance == 0f) return; + + float force = 1f; + + force *= 1f - nominalDistance / distance; + + Vector3 offset = direction * force * 0.5f; + + pos1 += offset; + pos2 -= offset; + } + + // Clean up the delegates + void OnDestroy() { + if (ik != null) { + ik.solver.OnPreRead -= OnPreRead; + ik.solver.OnPreIteration -= Iterate; + ik.solver.OnPostUpdate -= OnPostUpdate; + ik.solver.OnStoreDefaultLocalState -= OnStoreDefaultLocalState; + ik.solver.OnFixTransforms -= OnFixTransforms; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs.meta new file mode 100644 index 00000000..6e1da16e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBBIKHeadEffector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ebbd066464934494f896947690872ad4 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs new file mode 100644 index 00000000..ac59f7a2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs @@ -0,0 +1,582 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// A chain of bones in IKSolverFullBody. + /// + [System.Serializable] + public class FBIKChain { + + #region Main Interface + + /// + /// Linear constraint between child chains of a FBIKChain. + /// + [System.Serializable] + public class ChildConstraint { + + /// + /// The push elasticity. + /// + public float pushElasticity = 0f; + /// + /// The pull elasticity. + /// + public float pullElasticity = 0f; + /// + /// The first bone. + /// + [SerializeField] private Transform bone1; + /// + /// The second bone. + /// + [SerializeField] private Transform bone2; + + // Gets the nominal (animated) distance between the two bones. + public float nominalDistance { get; private set; } + + // The constraint is rigid if both push and pull elasticity are 0. + public bool isRigid { get; private set; } + + // The crossFade value between the connected chains + private float crossFade, inverseCrossFade; + + private int chain1Index; + private int chain2Index; + + /* + * Constructor + * */ + public ChildConstraint(Transform bone1, Transform bone2, float pushElasticity = 0f, float pullElasticity = 0f) { + this.bone1 = bone1; + this.bone2 = bone2; + this.pushElasticity = pushElasticity; + this.pullElasticity = pullElasticity; + } + + /* + * Initiating the constraint + * */ + public void Initiate(IKSolverFullBody solver) { + chain1Index = solver.GetChainIndex(bone1); + chain2Index = solver.GetChainIndex(bone2); + + OnPreSolve(solver); + } + + /* + * Updating nominal distance because it might have changed in the animation + * */ + public void OnPreSolve(IKSolverFullBody solver) { + nominalDistance = Vector3.Distance(solver.chain[chain1Index].nodes[0].transform.position, solver.chain[chain2Index].nodes[0].transform.position); + + isRigid = pushElasticity <= 0 && pullElasticity <= 0; + + // CrossFade + if (isRigid) { + float offset = solver.chain[chain1Index].pull - solver.chain[chain2Index].pull; + crossFade = 1f - (0.5f + (offset * 0.5f)); + } else crossFade = 0.5f; + + inverseCrossFade = 1f - crossFade; + } + + /* + * Solving the constraint + * */ + public void Solve(IKSolverFullBody solver) { + if (pushElasticity >= 1 && pullElasticity >= 1) return; + + Vector3 direction = solver.chain[chain2Index].nodes[0].solverPosition - solver.chain[chain1Index].nodes[0].solverPosition; + + float distance = direction.magnitude; + if (distance == nominalDistance) return; + if (distance == 0f) return; + + float force = 1f; + + if (!isRigid) { + float elasticity = distance > nominalDistance? pullElasticity: pushElasticity; + force = 1f - elasticity; + } + + force *= 1f - nominalDistance / distance; + + Vector3 offset = direction * force; + + solver.chain[chain1Index].nodes[0].solverPosition += offset * crossFade; + solver.chain[chain2Index].nodes[0].solverPosition -= offset * inverseCrossFade; + } + } + + [System.Serializable] + public enum Smoothing { + None, + Exponential, + Cubic + } + + /// + /// The pin weight. If closer to 1, the chain will be less influenced by child chains. + /// + [Range(0f, 1f)] + public float pin; + /// + /// The weight of pulling the parent chain. + /// + [Range(0f, 1f)] + public float pull = 1f; + /// + /// The weight of the end-effector pushing the shoulder/thigh when the end-effector is close to it. + /// + [Range(0f, 1f)] + public float push; + /// + /// The amount of push force transferred to the parent (from hand or foot to the body). + /// + [Range(-1f, 1f)] + public float pushParent; + /// + /// Only used in 3 segmented chains, pulls the first node closer to the third node. + /// + [Range(0f, 1f)] + public float reach = 0.1f; + /// + /// Smoothing the effect of the Reach with the expense of some accuracy. + /// + public Smoothing reachSmoothing = Smoothing.Exponential; + /// + /// Smoothing the effect of the Push. + /// + public Smoothing pushSmoothing = Smoothing.Exponential; + /// + /// The nodes in this chain. + /// + public IKSolver.Node[] nodes = new IKSolver.Node[0]; + /// + /// The child chains. + /// + public int[] children = new int[0]; + /// + /// The child constraints are used for example for fixing the distance between left upper arm and right upper arm + /// + public ChildConstraint[] childConstraints = new ChildConstraint[0]; + /// + /// Gets the bend constraint (if this chain has 3 segments). + /// + /// The bend constraint. + public IKConstraintBend bendConstraint = new IKConstraintBend(); + + #endregion Main Interface + + private float rootLength; + private bool initiated; + private float length; + private float distance; + private IKSolver.Point p; + private float reachForce; + private float pullParentSum; + private float[] crossFades; + private float sqrMag1, sqrMag2, sqrMagDif; + private const float maxLimbLength = 0.99999f; + + public FBIKChain() {} + + public FBIKChain (float pin, float pull, params Transform[] nodeTransforms) { + this.pin = pin; + this.pull = pull; + + SetNodes(nodeTransforms); + + children = new int[0]; + } + + /* + * Set nodes to the following bone transforms. + * */ + public void SetNodes(params Transform[] boneTransforms) { + nodes = new IKSolver.Node[boneTransforms.Length]; + for (int i = 0; i < boneTransforms.Length; i++) { + nodes[i] = new IKSolver.Node(boneTransforms[i]); + } + } + + public int GetNodeIndex(Transform boneTransform) { + for (int i = 0; i < nodes.Length; i++) { + if (nodes[i].transform == boneTransform) return i; + } + return -1; + } + + /* + * Check if this chain is valid or not. + * */ + public bool IsValid(ref string message) { + if (nodes.Length == 0) { + message = "FBIK chain contains no nodes."; + return false; + } + + foreach (IKSolver.Node node in nodes) if (node.transform == null) { + message = "Node transform is null in FBIK chain."; + return false; + } + + return true; + } + + /* + * Initiating the chain. + * */ + public void Initiate(IKSolverFullBody solver) { + initiated = false; + + foreach (IKSolver.Node node in nodes) { + node.solverPosition = node.transform.position; + } + + // Calculating bone lengths + CalculateBoneLengths(solver); + + // Initiating child constraints + foreach (ChildConstraint c in childConstraints) c.Initiate(solver as IKSolverFullBody); + + // Initiating the bend constraint + if (nodes.Length == 3) { + bendConstraint.SetBones(nodes[0].transform, nodes[1].transform, nodes[2].transform); + bendConstraint.Initiate(solver as IKSolverFullBody); + } + + crossFades = new float[children.Length]; + + initiated = true; + } + + /* + * Before updating the chain + * */ + public void ReadPose(IKSolverFullBody solver, bool fullBody) { + if (!initiated) return; + + for (int i = 0; i < nodes.Length; i++) { + nodes[i].solverPosition = nodes[i].transform.position + nodes[i].offset; + } + + // Calculating bone lengths + CalculateBoneLengths(solver); + + if (fullBody) { + // Pre-update child constraints + for (int i = 0; i < childConstraints.Length; i++) childConstraints[i].OnPreSolve(solver); + + if (children.Length > 0) { + // PullSum + float pullSum = nodes[nodes.Length - 1].effectorPositionWeight; + for (int i = 0; i < children.Length; i++) pullSum += solver.chain[children[i]].nodes[0].effectorPositionWeight * solver.chain[children[i]].pull; + pullSum = Mathf.Clamp(pullSum, 1f, Mathf.Infinity); + + // CrossFades + for (int i = 0; i < children.Length; i++) { + crossFades[i] = (solver.chain[children[i]].nodes[0].effectorPositionWeight * solver.chain[children[i]].pull) / pullSum; + } + } + + // Finding the total pull force by all child chains + pullParentSum = 0f; + for (int i = 0; i < children.Length; i++) pullParentSum += solver.chain[children[i]].pull; + pullParentSum = Mathf.Clamp(pullParentSum, 1f, Mathf.Infinity); + + // Reach force + if (nodes.Length == 3) { + reachForce = reach * Mathf.Clamp(nodes[2].effectorPositionWeight, 0f, 1f); + } else reachForce = 0f; + + if (push > 0f && nodes.Length > 1) distance = Vector3.Distance(nodes[0].transform.position, nodes[nodes.Length - 1].transform.position); + } + } + + // Calculates all bone lengths as well as lenghts between the chains + private void CalculateBoneLengths(IKSolverFullBody solver) { + // Calculating bone lengths + length = 0f; + + for (int i = 0; i < nodes.Length - 1; i++) { + nodes[i].length = Vector3.Distance(nodes[i].transform.position, nodes[i + 1].transform.position); + length += nodes[i].length; + + if (nodes[i].length == 0) { + Warning.Log("Bone " + nodes[i].transform.name + " - " + nodes[i + 1].transform.name + " length is zero, can not solve.", nodes[i].transform); + return; + } + } + + for (int i = 0; i < children.Length; i++) { + solver.chain[children[i]].rootLength = (solver.chain[children[i]].nodes[0].transform.position - nodes[nodes.Length - 1].transform.position).magnitude; + + if (solver.chain[children[i]].rootLength == 0f) { + return; + } + } + + if (nodes.Length == 3) { + // Square magnitude of the limb lengths + sqrMag1 = nodes[0].length * nodes[0].length; + sqrMag2 = nodes[1].length * nodes[1].length; + sqrMagDif = sqrMag1 - sqrMag2; + } + } + + #region Recursive Methods + + /* + * Reaching limbs + * */ + public void Reach(IKSolverFullBody solver) { + if (!initiated) return; + + // Solve children first + for (int i = 0; i < children.Length; i++) solver.chain[children[i]].Reach(solver); + + if (reachForce <= 0f) return; + + Vector3 solverDirection = nodes[2].solverPosition - nodes[0].solverPosition; + if (solverDirection == Vector3.zero) return; + + float solverLength = solverDirection.magnitude; + + //Reaching + Vector3 straight = (solverDirection / solverLength) * length; + + float delta = Mathf.Clamp(solverLength / length, 1 - reachForce, 1 + reachForce) - 1f; + delta = Mathf.Clamp(delta + reachForce, -1f, 1f); + + // Smoothing the effect of Reach with the expense of some accuracy + switch (reachSmoothing) { + case Smoothing.Exponential: + delta *= delta; + break; + case Smoothing.Cubic: + delta *= delta * delta; + break; + } + + Vector3 offset = straight * Mathf.Clamp(delta, 0f, solverLength); + nodes[0].solverPosition += offset * (1f - nodes[0].effectorPositionWeight); + nodes[2].solverPosition += offset; + } + + /* + * End-effectors pushing the first nodes + * */ + public Vector3 Push(IKSolverFullBody solver) { + Vector3 sum = Vector3.zero; + + // Get the push from the children + for (int i = 0; i < children.Length; i++) { + sum += solver.chain[children[i]].Push(solver) * solver.chain[children[i]].pushParent; + } + + // Apply the push from a child + nodes[nodes.Length - 1].solverPosition += sum; + + // Calculating the push of THIS chain (passed on to the parent as we're in a recursive method) + if (nodes.Length < 2) return Vector3.zero; + if (push <= 0f) return Vector3.zero; + + Vector3 solverDirection = nodes[2].solverPosition - nodes[0].solverPosition; + float solverLength = solverDirection.magnitude; + if (solverLength == 0f) return Vector3.zero; + + // Get the push force factor + float f = 1f - (solverLength / distance); + if (f <= 0f) return Vector3.zero; + + // Push smoothing + switch (pushSmoothing) { + case Smoothing.Exponential: + f *= f; + break; + case Smoothing.Cubic: + f *= f * f; + break; + } + + // The final push force + Vector3 p = -solverDirection * f * push; + + nodes[0].solverPosition += p; + return p; + } + + /* + * Applying trigonometric IK solver on the 3 segmented chains to relieve tension from the solver and increase accuracy. + * */ + public void SolveTrigonometric(IKSolverFullBody solver, bool calculateBendDirection = false) { + if (!initiated) return; + + // Solve children first + for (int i = 0; i < children.Length; i++) solver.chain[children[i]].SolveTrigonometric(solver, calculateBendDirection); + + if (nodes.Length != 3) return; + + // Direction of the limb in solver + Vector3 solverDirection = nodes[2].solverPosition - nodes[0].solverPosition; + + // Distance between the first and the last node solver positions + float solverLength = solverDirection.magnitude; + if (solverLength == 0f) return; + + // Maximim stretch of the limb + float maxMag = Mathf.Clamp(solverLength, 0f, length * maxLimbLength); + Vector3 direction = (solverDirection / solverLength) * maxMag; + + // Get the general world space bending direction + Vector3 bendDirection = calculateBendDirection && bendConstraint.initiated? bendConstraint.GetDir(solver): nodes[1].solverPosition - nodes[0].solverPosition; + + // Get the direction to the trigonometrically solved position of the second node + Vector3 toBendPoint = GetDirToBendPoint(direction, bendDirection, maxMag); + + // Position the second node + nodes[1].solverPosition = nodes[0].solverPosition + toBendPoint; + } + + /* + * Stage 1 of the FABRIK algorithm + * */ + public void Stage1(IKSolverFullBody solver) { + // Stage 1 + for (int i = 0; i < children.Length; i++) solver.chain[children[i]].Stage1(solver); + + // If is the last chain in this hierarchy, solve immediatelly and return + if (children.Length == 0) { + ForwardReach(nodes[nodes.Length - 1].solverPosition); + return; + } + + Vector3 centroid = nodes[nodes.Length - 1].solverPosition; + + // Satisfying child constraints + SolveChildConstraints(solver); + + // Finding the centroid position of all child chains according to their individual pull weights + for (int i = 0; i < children.Length; i++) { + Vector3 childPosition = solver.chain[children[i]].nodes[0].solverPosition; + + if (solver.chain[children[i]].rootLength > 0) { + childPosition = SolveFABRIKJoint(nodes[nodes.Length - 1].solverPosition, solver.chain[children[i]].nodes[0].solverPosition, solver.chain[children[i]].rootLength); + } + + if (pullParentSum > 0) centroid += (childPosition - nodes[nodes.Length - 1].solverPosition) * (solver.chain[children[i]].pull / pullParentSum); + } + + // Forward reach to the centroid (unless pinned) + ForwardReach(Vector3.Lerp(centroid, nodes[nodes.Length - 1].solverPosition, pin)); + } + + /* + * Stage 2 of the FABRIK algorithm. + * */ + public void Stage2(IKSolverFullBody solver, Vector3 position) { + // Stage 2 + BackwardReach(position); + + int it = Mathf.Clamp(solver.iterations, 2, 4); + + // Iterating child constraints and child chains to make sure they are not conflicting + if (childConstraints.Length > 0) { + for (int i = 0; i < it; i++) SolveConstraintSystems(solver); + } + + // Stage 2 for the children + for (int i = 0; i < children.Length; i++) solver.chain[children[i]].Stage2(solver, nodes[nodes.Length - 1].solverPosition); + } + + /* + * Iterating child constraints and child chains to make sure they are not conflicting + * */ + public void SolveConstraintSystems(IKSolverFullBody solver) { + // Satisfy child constraints + SolveChildConstraints(solver); + + for (int i = 0; i < children.Length; i++) { + SolveLinearConstraint(nodes[nodes.Length - 1], solver.chain[children[i]].nodes[0], crossFades[i], solver.chain[children[i]].rootLength); + } + } + + #endregion Recursive Methods + + /* + * Interpolates the joint position to match the bone's length + */ + private Vector3 SolveFABRIKJoint(Vector3 pos1, Vector3 pos2, float length) { + return pos2 + (pos1 - pos2).normalized * length; + } + + /* + * Calculates the bend direction based on the law of cosines (from IKSolverTrigonometric). + * */ + protected Vector3 GetDirToBendPoint(Vector3 direction, Vector3 bendDirection, float directionMagnitude) { + float x = ((directionMagnitude * directionMagnitude) + sqrMagDif) / 2f / directionMagnitude; + float y = (float)Math.Sqrt(Mathf.Clamp(sqrMag1 - x * x, 0, Mathf.Infinity)); + + if (direction == Vector3.zero) return Vector3.zero; + return Quaternion.LookRotation(direction, bendDirection) * new Vector3(0f, y, x); + } + + /* + * Satisfying child constraints + * */ + private void SolveChildConstraints(IKSolverFullBody solver) { + for (int i = 0; i < childConstraints.Length; i++) { + childConstraints[i].Solve(solver); + } + } + + /* + * Solve simple linear constraint + * */ + private void SolveLinearConstraint(IKSolver.Node node1, IKSolver.Node node2, float crossFade, float distance) { + Vector3 dir = node2.solverPosition - node1.solverPosition; + + float mag = dir.magnitude; + + if (distance == mag) return; + if (mag == 0f) return; + + Vector3 offset = dir * (1f - distance / mag); + + node1.solverPosition += offset * crossFade; + node2.solverPosition -= offset * (1f - crossFade); + } + + /* + * FABRIK Forward reach + * */ + public void ForwardReach(Vector3 position) { + // Lerp last node's solverPosition to position + nodes[nodes.Length - 1].solverPosition = position; + + for (int i = nodes.Length - 2; i > -1; i--) { + // Finding joint positions + nodes[i].solverPosition = SolveFABRIKJoint(nodes[i].solverPosition, nodes[i + 1].solverPosition, nodes[i].length); + } + } + + /* + * FABRIK Backward reach + * */ + private void BackwardReach(Vector3 position) { + // Solve forst node only if it already hasn't been solved in SolveConstraintSystems + if (rootLength > 0) position = SolveFABRIKJoint(nodes[0].solverPosition, position, rootLength); + nodes[0].solverPosition = position; + + // Finding joint positions + for (int i = 1; i < nodes.Length; i++) { + nodes[i].solverPosition = SolveFABRIKJoint(nodes[i].solverPosition, nodes[i - 1].solverPosition, nodes[i - 1].length); + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs.meta new file mode 100644 index 00000000..7c71c9dd --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/FBIKChain.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d18c3d1b5f0274264811ca0b290c1c26 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs new file mode 100644 index 00000000..652b7769 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs @@ -0,0 +1,232 @@ +using UnityEngine; +using System.Collections; + + namespace RootMotion.FinalIK { + + /// + /// %Constraint used for fixing bend direction of 3-segment node chains in a node based %IK solver. + /// + [System.Serializable] + public class IKConstraintBend { + + #region Main Interface + + /// + /// The first bone. + /// + public Transform bone1; + /// + /// The second (bend) bone. + /// + public Transform bone2; + /// + /// The third bone. + /// + public Transform bone3; + /// + /// The bend goal Transform. + /// + public Transform bendGoal; + + /// + /// The bend direction. + /// + public Vector3 direction = Vector3.right; + + /// + /// The bend rotation offset. + /// + public Quaternion rotationOffset; + + /// + /// The weight. If weight is 1, will override effector rotation and the joint will be rotated at the direction. This enables for direct manipulation of the bend direction independent of effector rotation. + /// + [Range(0f, 1f)] + public float weight = 0f; + + /// + /// Determines whether this IKConstraintBend is valid. + /// + public bool IsValid(IKSolverFullBody solver, Warning.Logger logger) { + if (bone1 == null || bone2 == null || bone3 == null) { + if (logger != null) logger("Bend Constraint contains a null reference."); + return false; + } + if (solver.GetPoint(bone1) == null) { + if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone1.name + "' that does not excist in the Node Chain."); + return false; + } + if (solver.GetPoint(bone2) == null) { + if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone2.name + "' that does not excist in the Node Chain."); + return false; + } + if (solver.GetPoint(bone3) == null) { + if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone3.name + "' that does not excist in the Node Chain."); + return false; + } + return true; + } + + #endregion Main Interface + + public Vector3 defaultLocalDirection, defaultChildDirection; + [System.NonSerializedAttribute] public float clampF = 0.505f; + + //private IKSolver.Node node1, node2, node3; + private int chainIndex1; + private int nodeIndex1; + private int chainIndex2; + private int nodeIndex2; + private int chainIndex3; + private int nodeIndex3; + + public bool initiated { get; private set; } + private bool limbOrientationsSet; + + public IKConstraintBend() {} + + public IKConstraintBend(Transform bone1, Transform bone2, Transform bone3) { + SetBones(bone1, bone2, bone3); + } + + public void SetBones(Transform bone1, Transform bone2, Transform bone3) { + this.bone1 = bone1; + this.bone2 = bone2; + this.bone3 = bone3; + } + + /* + * Initiate the constraint and set defaults + * */ + public void Initiate(IKSolverFullBody solver) { + solver.GetChainAndNodeIndexes(bone1, out chainIndex1, out nodeIndex1); + solver.GetChainAndNodeIndexes(bone2, out chainIndex2, out nodeIndex2); + solver.GetChainAndNodeIndexes(bone3, out chainIndex3, out nodeIndex3); + + // Find the default bend direction orthogonal to the chain direction + direction = OrthoToBone1(solver, OrthoToLimb(solver, bone2.position - bone1.position)); + + if (!limbOrientationsSet) { + // Default bend direction relative to the first node + defaultLocalDirection = Quaternion.Inverse(bone1.rotation) * direction; + + // Default plane normal + Vector3 defaultNormal = Vector3.Cross((bone3.position - bone1.position).normalized, direction); + + // Default plane normal relative to the third node + defaultChildDirection = Quaternion.Inverse(bone3.rotation) * defaultNormal; + } + + initiated = true; + } + + /* + * Make the limb bend towards the specified local directions of the bones + * */ + public void SetLimbOrientation(Vector3 upper, Vector3 lower, Vector3 last) { + if (upper == Vector3.zero) Debug.LogError("Attempting to set limb orientation to Vector3.zero axis"); + if (lower == Vector3.zero) Debug.LogError("Attempting to set limb orientation to Vector3.zero axis"); + if (last == Vector3.zero) Debug.LogError("Attempting to set limb orientation to Vector3.zero axis"); + + // Default bend direction relative to the first node + defaultLocalDirection = upper.normalized; + defaultChildDirection = last.normalized; + + limbOrientationsSet = true; + } + + /* + * Limits the bending joint of the limb to 90 degrees from the default 90 degrees of bend direction + * */ + public void LimitBend(float solverWeight, float positionWeight) { + if (!initiated) return; + + Vector3 normalDirection = bone1.rotation * -defaultLocalDirection; + + Vector3 axis2 = bone3.position - bone2.position; + + // Clamp the direction from knee/elbow to foot/hand to valid range (90 degrees from right-angledly bent limb) + bool changed = false; + Vector3 clampedAxis2 = V3Tools.ClampDirection(axis2, normalDirection, clampF * solverWeight, 0, out changed); + + Quaternion bone3Rotation = bone3.rotation; + + if (changed) { + Quaternion f = Quaternion.FromToRotation(axis2, clampedAxis2); + bone2.rotation = f * bone2.rotation; + } + + // Rotating bend direction to normal when the limb is stretched out + if (positionWeight > 0f) { + Vector3 normal = bone2.position - bone1.position; + Vector3 tangent = bone3.position - bone2.position; + + Vector3.OrthoNormalize(ref normal, ref tangent); + Quaternion q = Quaternion.FromToRotation(tangent, normalDirection); + + bone2.rotation = Quaternion.Lerp(bone2.rotation, q * bone2.rotation, positionWeight * solverWeight); + } + + if (changed || positionWeight > 0f) bone3.rotation = bone3Rotation; + } + + /* + * Computes the direction from the first node to the second node + * */ + public Vector3 GetDir(IKSolverFullBody solver) { + if (!initiated) return Vector3.zero; + + float w = weight * solver.IKPositionWeight; + + // Apply the bend goal + if (bendGoal != null) { + Vector3 b = bendGoal.position - solver.GetNode(chainIndex1, nodeIndex1).solverPosition; + if (b != Vector3.zero) direction = b; + } + + if (w >= 1f) return direction.normalized; + + Vector3 solverDirection = solver.GetNode(chainIndex3, nodeIndex3).solverPosition - solver.GetNode(chainIndex1, nodeIndex1).solverPosition; + + // Get rotation from animated limb direction to solver limb direction + Quaternion f = Quaternion.FromToRotation(bone3.position - bone1.position, solverDirection); + + // Rotate the default bend direction by f + Vector3 dir = f * (bone2.position - bone1.position); + + // Effector rotation + if (solver.GetNode(chainIndex3, nodeIndex3).effectorRotationWeight > 0f) { + // Bend direction according to the effector rotation + Vector3 effectorDirection = -Vector3.Cross(solverDirection, solver.GetNode(chainIndex3, nodeIndex3).solverRotation * defaultChildDirection); + dir = Vector3.Lerp(dir, effectorDirection, solver.GetNode(chainIndex3, nodeIndex3).effectorRotationWeight); + } + + // Rotation Offset + if (rotationOffset != Quaternion.identity) { + Quaternion toOrtho = Quaternion.FromToRotation(rotationOffset * solverDirection, solverDirection); + dir = toOrtho * rotationOffset * dir; + } + + if (w <= 0f) return dir; + return Vector3.Lerp(dir, direction.normalized, w); + } + + /* + * Ortho-Normalize a vector to the chain direction + * */ + private Vector3 OrthoToLimb(IKSolverFullBody solver, Vector3 tangent) { + Vector3 normal = solver.GetNode(chainIndex3, nodeIndex3).solverPosition - solver.GetNode(chainIndex1, nodeIndex1).solverPosition; + Vector3.OrthoNormalize(ref normal, ref tangent); + return tangent; + } + + /* + * Ortho-Normalize a vector to the first bone direction + * */ + private Vector3 OrthoToBone1(IKSolverFullBody solver, Vector3 tangent) { + Vector3 normal = solver.GetNode(chainIndex2, nodeIndex2).solverPosition - solver.GetNode(chainIndex1, nodeIndex1).solverPosition; + Vector3.OrthoNormalize(ref normal, ref tangent); + return tangent; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs.meta new file mode 100644 index 00000000..ca04e590 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKConstraintBend.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 89a2409fbbfb040b8b611279d6bba392 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs new file mode 100644 index 00000000..0e4e5ca6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs @@ -0,0 +1,336 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Effector for manipulating node based %IK solvers. + /// + [System.Serializable] + public class IKEffector { + + #region Main Interface + + /// + /// Gets the main node. + /// + public IKSolver.Node GetNode(IKSolverFullBody solver) { + return solver.chain[chainIndex].nodes[nodeIndex]; + } + + /// + /// The node transform used by this effector. + /// + public Transform bone; + /// + /// The target Transform (optional, you can use just the position and rotation instead). + /// + public Transform target; + /// + /// The position weight. + /// + [Range(0f, 1f)] + public float positionWeight; + /// + /// The rotation weight. + /// + [Range(0f, 1f)] + public float rotationWeight; + /// + /// The effector position in world space. + /// + public Vector3 position = Vector3.zero; + /// + /// The effector rotation relative to default rotation in world space. + /// + public Quaternion rotation = Quaternion.identity; + /// + /// The position offset in world space. positionOffset will be reset to Vector3.zero each frame after the solver is complete. + /// + public Vector3 positionOffset; + /// + /// Is this the last effector of a node chain? + /// + public bool isEndEffector { get; private set; } + /// + /// If false, child nodes will be ignored by this effector (if it has any). + /// + public bool effectChildNodes = true; + /// + /// Keeps the node position relative to the triangle defined by the plane bones (applies only to end-effectors). + /// + [Range(0f, 1f)] + public float maintainRelativePositionWeight; + + /// + /// Pins the effector to the animated position of its bone. + /// + public void PinToBone(float positionWeight, float rotationWeight) { + position = bone.position; + this.positionWeight = Mathf.Clamp(positionWeight, 0f, 1f); + + rotation = bone.rotation; + this.rotationWeight = Mathf.Clamp(rotationWeight, 0f, 1f); + } + + #endregion Main Interface + + public Transform[] childBones = new Transform[0]; // The optional list of other bones that positionOffset and position of this effector will be applied to. + public Transform planeBone1; // The first bone defining the parent plane. + public Transform planeBone2; // The second bone defining the parent plane. + public Transform planeBone3; // The third bone defining the parent plane. + public Quaternion planeRotationOffset = Quaternion.identity; // Used by Bend Constraints + + private float posW, rotW; + private Vector3[] localPositions = new Vector3[0]; + private bool usePlaneNodes; + private Quaternion animatedPlaneRotation = Quaternion.identity; + private Vector3 animatedPosition; + private bool firstUpdate; + private int chainIndex = -1; + private int nodeIndex = -1; + private int plane1ChainIndex; + private int plane1NodeIndex = -1; + private int plane2ChainIndex = -1; + private int plane2NodeIndex = -1; + private int plane3ChainIndex = -1; + private int plane3NodeIndex = -1; + private int[] childChainIndexes = new int[0]; + private int[] childNodeIndexes = new int[0]; + + public IKEffector() {} + + public IKEffector (Transform bone, Transform[] childBones) { + this.bone = bone; + this.childBones = childBones; + } + + /* + * Determines whether this IKEffector is valid or not. + * */ + public bool IsValid(IKSolver solver, ref string message) { + + if (bone == null) { + message = "IK Effector bone is null."; + return false; + } + + if (solver.GetPoint(bone) == null) { + message = "IK Effector is referencing to a bone '" + bone.name + "' that does not excist in the Node Chain."; + return false; + } + + foreach (Transform b in childBones) { + if (b == null) { + message = "IK Effector contains a null reference."; + return false; + } + } + + foreach (Transform b in childBones) { + if (solver.GetPoint(b) == null) { + message = "IK Effector is referencing to a bone '" + b.name + "' that does not excist in the Node Chain."; + return false; + } + } + + if (planeBone1 != null && solver.GetPoint(planeBone1) == null) { + message = "IK Effector is referencing to a bone '" + planeBone1.name + "' that does not excist in the Node Chain."; + return false; + } + + if (planeBone2 != null && solver.GetPoint(planeBone2) == null) { + message = "IK Effector is referencing to a bone '" + planeBone2.name + "' that does not excist in the Node Chain."; + return false; + } + + if (planeBone3 != null && solver.GetPoint(planeBone3) == null) { + message = "IK Effector is referencing to a bone '" + planeBone3.name + "' that does not excist in the Node Chain."; + return false; + } + + return true; + } + + /* + * Initiate the effector, set default values + * */ + public void Initiate(IKSolverFullBody solver) { + position = bone.position; + rotation = bone.rotation; + animatedPlaneRotation = Quaternion.identity; + + // Getting the node + solver.GetChainAndNodeIndexes(bone, out chainIndex, out nodeIndex); + + // Child nodes + childChainIndexes = new int[childBones.Length]; + childNodeIndexes = new int[childBones.Length]; + + for (int i = 0; i < childBones.Length; i++) { + solver.GetChainAndNodeIndexes(childBones[i], out childChainIndexes[i], out childNodeIndexes[i]); + } + + localPositions = new Vector3[childBones.Length]; + + // Plane nodes + usePlaneNodes = false; + + if (planeBone1 != null) { + solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex); + + if (planeBone2 != null) { + solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex); + + if (planeBone3 != null) { + solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex); + + usePlaneNodes = true; + } + } + + isEndEffector = true; + } else isEndEffector = false; + } + + /* + * Clear node offset + * */ + public void ResetOffset(IKSolverFullBody solver) { + solver.GetNode(chainIndex, nodeIndex).offset = Vector3.zero; + + for (int i = 0; i < childChainIndexes.Length; i++) { + solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).offset = Vector3.zero; + } + } + + /* + * Set the position and rotation to match the target + * */ + public void SetToTarget() { + if (target == null) return; + position = target.position; + rotation = target.rotation; + } + + /* + * Presolving, applying offset + * */ + public void OnPreSolve(IKSolverFullBody solver) { + positionWeight = Mathf.Clamp(positionWeight, 0f, 1f); + rotationWeight = Mathf.Clamp(rotationWeight, 0f, 1f); + maintainRelativePositionWeight = Mathf.Clamp(maintainRelativePositionWeight, 0f, 1f); + + // Calculating weights + posW = positionWeight * solver.IKPositionWeight; + rotW = rotationWeight * solver.IKPositionWeight; + + solver.GetNode(chainIndex, nodeIndex).effectorPositionWeight = posW; + solver.GetNode(chainIndex, nodeIndex).effectorRotationWeight = rotW; + + solver.GetNode(chainIndex, nodeIndex).solverRotation = rotation; + + if (float.IsInfinity(positionOffset.x) || + float.IsInfinity(positionOffset.y) || + float.IsInfinity(positionOffset.z) + ) Debug.LogError("Invalid IKEffector.positionOffset (contains Infinity)! Please make sure not to set IKEffector.positionOffset to infinite values.", bone); + + if (float.IsNaN(positionOffset.x) || + float.IsNaN(positionOffset.y) || + float.IsNaN(positionOffset.z) + ) Debug.LogError("Invalid IKEffector.positionOffset (contains NaN)! Please make sure not to set IKEffector.positionOffset to NaN values.", bone); + + if (positionOffset.sqrMagnitude > 10000000000f) Debug.LogError("Additive effector positionOffset detected in Full Body IK (extremely large value). Make sure you are not circularily adding to effector positionOffset each frame.", bone); + + if (float.IsInfinity(position.x) || + float.IsInfinity(position.y) || + float.IsInfinity(position.z) + ) Debug.LogError("Invalid IKEffector.position (contains Infinity)!"); + + solver.GetNode(chainIndex, nodeIndex).offset += positionOffset * solver.IKPositionWeight; + + if (effectChildNodes && solver.iterations > 0) { + for (int i = 0; i < childBones.Length; i++) { + localPositions[i] = childBones[i].transform.position - bone.transform.position; + + solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).offset += positionOffset * solver.IKPositionWeight; + } + } + + // Relative to Plane + if (usePlaneNodes && maintainRelativePositionWeight > 0f) { + animatedPlaneRotation = Quaternion.LookRotation(planeBone2.position - planeBone1.position, planeBone3.position - planeBone1.position);; + } + + firstUpdate = true; + } + + /* + * Called after writing the pose + * */ + public void OnPostWrite() { + positionOffset = Vector3.zero; + } + + /* + * Rotation of plane nodes in the solver + * */ + private Quaternion GetPlaneRotation(IKSolverFullBody solver) { + Vector3 p1 = solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition; + Vector3 p2 = solver.GetNode(plane2ChainIndex, plane2NodeIndex).solverPosition; + Vector3 p3 = solver.GetNode(plane3ChainIndex, plane3NodeIndex).solverPosition; + + Vector3 viewingVector = p2 - p1; + Vector3 upVector = p3 - p1; + + if (viewingVector == Vector3.zero) { + Warning.Log("Make sure you are not placing 2 or more FBBIK effectors of the same chain to exactly the same position.", bone); + return Quaternion.identity; + } + + return Quaternion.LookRotation(viewingVector, upVector); + } + + /* + * Manipulating node solverPosition + * */ + public void Update(IKSolverFullBody solver) { + if (firstUpdate) { + animatedPosition = bone.position + solver.GetNode(chainIndex, nodeIndex).offset; + firstUpdate = false; + } + + solver.GetNode(chainIndex, nodeIndex).solverPosition = Vector3.Lerp(GetPosition(solver, out planeRotationOffset), position, posW); + + // Child nodes + if (!effectChildNodes) return; + + for (int i = 0; i < childBones.Length; i++) { + solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).solverPosition = Vector3.Lerp(solver.GetNode(childChainIndexes[i], childNodeIndexes[i]).solverPosition, solver.GetNode(chainIndex, nodeIndex).solverPosition + localPositions[i], posW); + } + } + + /* + * Gets the starting position of the iteration + * */ + private Vector3 GetPosition(IKSolverFullBody solver, out Quaternion planeRotationOffset) { + planeRotationOffset = Quaternion.identity; + if (!isEndEffector) return solver.GetNode(chainIndex, nodeIndex).solverPosition; // non end-effectors are always free + + if (maintainRelativePositionWeight <= 0f) return animatedPosition; + + // Maintain relative position + Vector3 p = bone.position; + Vector3 dir = p - planeBone1.position; + + planeRotationOffset = GetPlaneRotation(solver) * Quaternion.Inverse(animatedPlaneRotation); + + p = solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition + planeRotationOffset * dir; + + // Interpolate the rotation offset + planeRotationOffset = Quaternion.Lerp(Quaternion.identity, planeRotationOffset, maintainRelativePositionWeight); + + return Vector3.Lerp(animatedPosition, p + solver.GetNode(chainIndex, nodeIndex).offset, maintainRelativePositionWeight); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs.meta new file mode 100644 index 00000000..75078090 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKEffector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 02c7adf75b099410fa394db3cdbd7137 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs new file mode 100644 index 00000000..59d52f6f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs @@ -0,0 +1,336 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Maps a bone or a collection of bones to a node based %IK solver + /// + [System.Serializable] + public class IKMapping { + + #region Main Interface + + /// + /// Contains mapping information of a single bone + /// + [System.Serializable] + public class BoneMap { + /// + /// The transform. + /// + public Transform transform; + /// + /// The node in %IK Solver. + /// + //public IKSolver.Node node; + + public int chainIndex = -1; + public int nodeIndex = -1; + + public Vector3 defaultLocalPosition; + public Quaternion defaultLocalRotation; + public Vector3 localSwingAxis, localTwistAxis, planePosition, ikPosition; + public Quaternion defaultLocalTargetRotation; + private Quaternion maintainRotation; + public float length; + public Quaternion animatedRotation; + + private Transform planeBone1, planeBone2, planeBone3; + private int plane1ChainIndex = -1; + private int plane1NodeIndex = -1; + private int plane2ChainIndex = -1; + private int plane2NodeIndex = -1; + private int plane3ChainIndex = -1; + private int plane3NodeIndex = -1; + + //private IKSolver.Node planeNode1, planeNode2, planeNode3; + + public void Initiate(Transform transform, IKSolverFullBody solver) { + this.transform = transform; + + solver.GetChainAndNodeIndexes(transform, out chainIndex, out nodeIndex); + //IKSolver.Point point = solver.GetPoint(transform); + //this.node = point as IKSolver.Node; + } + + /// + /// Gets the current swing direction of the bone in world space. + /// + public Vector3 swingDirection { + get { + return transform.rotation * localSwingAxis; + } + } + + public void StoreDefaultLocalState() { + defaultLocalPosition = transform.localPosition; + defaultLocalRotation = transform.localRotation; + } + + public void FixTransform(bool position) { + if (position) transform.localPosition = defaultLocalPosition; + transform.localRotation = defaultLocalRotation; + } + + #region Reading + + /* + * Does this bone have a node in the IK Solver? + * */ + public bool isNodeBone { + get { + return nodeIndex != -1; + //return node != null; + } + } + + /* + * Calculate length of the bone + * */ + public void SetLength(BoneMap nextBone) { + length = Vector3.Distance(transform.position, nextBone.transform.position); + } + + /* + * Sets the direction to the swing target in local space + * */ + public void SetLocalSwingAxis(BoneMap swingTarget) { + SetLocalSwingAxis(swingTarget, this); + } + + /* + * Sets the direction to the swing target in local space + * */ + public void SetLocalSwingAxis(BoneMap bone1, BoneMap bone2) { + localSwingAxis = Quaternion.Inverse(transform.rotation) * (bone1.transform.position - bone2.transform.position); + } + + /* + * Sets the direction to the twist target in local space + * */ + public void SetLocalTwistAxis(Vector3 twistDirection, Vector3 normalDirection) { + Vector3.OrthoNormalize(ref normalDirection, ref twistDirection); + localTwistAxis = Quaternion.Inverse(transform.rotation) * twistDirection; + } + + /* + * Sets the 3 points defining a plane for this bone + * */ + public void SetPlane(IKSolverFullBody solver, Transform planeBone1, Transform planeBone2, Transform planeBone3) { + this.planeBone1 = planeBone1; + this.planeBone2 = planeBone2; + this.planeBone3 = planeBone3; + + solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex); + solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex); + solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex); + + //this.planeNode1 = planeNode1; + //this.planeNode2 = planeNode2; + //this.planeNode3 = planeNode3; + + UpdatePlane(true, true); + } + + /* + * Updates the 3 plane points + * */ + public void UpdatePlane(bool rotation, bool position) { + Quaternion t = lastAnimatedTargetRotation; + + if (rotation) defaultLocalTargetRotation = QuaTools.RotationToLocalSpace(transform.rotation, t); + if (position) planePosition = Quaternion.Inverse(t) * (transform.position - planeBone1.position); + } + + /* + * Sets the virtual position for this bone + * */ + public void SetIKPosition() { + ikPosition = transform.position; + } + + /* + * Stores the current rotation for later use. + * */ + public void MaintainRotation() { + maintainRotation = transform.rotation; + } + + #endregion Reading + + #region Writing + + /* + * Moves the bone to its virtual position + * */ + public void SetToIKPosition() { + transform.position = ikPosition; + } + + /* + * Moves the bone to the solver position of its node + * */ + public void FixToNode(IKSolverFullBody solver, float weight, IKSolver.Node fixNode = null) { + if (fixNode == null) fixNode = solver.GetNode(chainIndex, nodeIndex); + + if (weight >= 1f) { + transform.position = fixNode.solverPosition; + return; + } + + transform.position = Vector3.Lerp(transform.position, fixNode.solverPosition, weight); + } + + /* + * Gets the bone's position relative to its 3 plane nodes + * */ + public Vector3 GetPlanePosition(IKSolverFullBody solver) { + return solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition + (GetTargetRotation(solver) * planePosition); + //return planeNode1.solverPosition + (targetRotation * planePosition); + } + + /* + * Positions the bone relative to its 3 plane nodes + * */ + public void PositionToPlane(IKSolverFullBody solver) { + transform.position = GetPlanePosition(solver); + } + + /* + * Rotates the bone relative to its 3 plane nodes + * */ + public void RotateToPlane(IKSolverFullBody solver, float weight) { + Quaternion r = GetTargetRotation(solver) * defaultLocalTargetRotation; + + if (weight >= 1f) { + transform.rotation = r; + return; + } + + transform.rotation = Quaternion.Lerp(transform.rotation, r, weight); + } + + /* + * Swings to the swing target + * */ + public void Swing(Vector3 swingTarget, float weight) { + Swing(swingTarget, transform.position, weight); + } + + /* + * Swings to a direction from pos2 to pos1 + * */ + public void Swing(Vector3 pos1, Vector3 pos2, float weight) { + Quaternion r = Quaternion.FromToRotation(transform.rotation * localSwingAxis, pos1 - pos2) * transform.rotation; + + if (weight >= 1f) { + transform.rotation = r; + return; + } + + transform.rotation = Quaternion.Lerp(transform.rotation, r, weight); + } + + /* + * Twists to the twist target + * */ + public void Twist(Vector3 twistDirection, Vector3 normalDirection, float weight) { + Vector3.OrthoNormalize(ref normalDirection, ref twistDirection); + + Quaternion r = Quaternion.FromToRotation(transform.rotation * localTwistAxis, twistDirection) * transform.rotation; + + if (weight >= 1f) { + transform.rotation = r; + return; + } + + transform.rotation = Quaternion.Lerp(transform.rotation, r, weight); + } + + /* + * Rotates back to the last animated local rotation + * */ + public void RotateToMaintain(float weight) { + if (weight <= 0f) return; + + transform.rotation = Quaternion.Lerp(transform.rotation, maintainRotation, weight); + } + + /* + * Rotates to match the effector rotation + * */ + public void RotateToEffector(IKSolverFullBody solver, float weight) { + if (!isNodeBone) return; + float w = weight * solver.GetNode(chainIndex, nodeIndex).effectorRotationWeight; + if (w <= 0f) return; + + if (w >= 1f) { + transform.rotation = solver.GetNode(chainIndex, nodeIndex).solverRotation; + return; + } + + transform.rotation = Quaternion.Lerp(transform.rotation, solver.GetNode(chainIndex, nodeIndex).solverRotation, w); + } + + #endregion Writing + + /* + * Rotation of plane nodes in the solver + * */ + private Quaternion GetTargetRotation(IKSolverFullBody solver) { + Vector3 p1 = solver.GetNode(plane1ChainIndex, plane1NodeIndex).solverPosition; + Vector3 p2 = solver.GetNode(plane2ChainIndex, plane2NodeIndex).solverPosition; + Vector3 p3 = solver.GetNode(plane3ChainIndex, plane3NodeIndex).solverPosition; + + if (p1 == p3) return Quaternion.identity; + return Quaternion.LookRotation(p2 - p1, p3 - p1); + + //if (planeNode1.solverPosition == planeNode3.solverPosition) return Quaternion.identity; + //return Quaternion.LookRotation(planeNode2.solverPosition - planeNode1.solverPosition, planeNode3.solverPosition - planeNode1.solverPosition); + } + + /* + * Rotation of plane nodes in the animation + * */ + private Quaternion lastAnimatedTargetRotation { + get { + if (planeBone1.position == planeBone3.position) return Quaternion.identity; + return Quaternion.LookRotation(planeBone2.position - planeBone1.position, planeBone3.position - planeBone1.position); + } + } + } + + /// + /// Determines whether this IKMapping is valid. + /// + public virtual bool IsValid(IKSolver solver, ref string message) { + return true; + } + + #endregion Main Interface + + public virtual void Initiate(IKSolverFullBody solver) {} + + protected bool BoneIsValid(Transform bone, IKSolver solver, ref string message, Warning.Logger logger = null) { + if (bone == null) { + message = "IKMappingLimb contains a null reference."; + if (logger != null) logger(message); + return false; + } + if (solver.GetPoint(bone) == null) { + message = "IKMappingLimb is referencing to a bone '" + bone.name + "' that does not excist in the Node Chain."; + if (logger != null) logger(message); + return false; + } + return true; + } + + /* + * Interpolates the joint position to match the bone's length + */ + protected Vector3 SolveFABRIKJoint(Vector3 pos1, Vector3 pos2, float length) { + return pos2 + (pos1 - pos2).normalized * length; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs.meta new file mode 100644 index 00000000..e60b3b87 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMapping.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ea73ef4abb3e747839d91973dd0bb3cb +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs new file mode 100644 index 00000000..8ef4f909 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs @@ -0,0 +1,78 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Maps a single bone to a node in %IK Solver + /// + [System.Serializable] + public class IKMappingBone: IKMapping { + + #region Main Interface + + /// + /// The bone transform. + /// + public Transform bone; + + /// + /// The weight of maintaining the bone's rotation after solver has finished. + /// + [Range(0f, 1f)] + public float maintainRotationWeight = 1f; + + /// + /// Determines whether this IKMappingBone is valid. + /// + public override bool IsValid(IKSolver solver, ref string message) { + if (!base.IsValid(solver, ref message)) return false; + + if (bone == null) { + message = "IKMappingBone's bone is null."; + return false; + } + + return true; + } + + #endregion Main Interface + + private BoneMap boneMap = new BoneMap(); + + public IKMappingBone() {} + + public IKMappingBone(Transform bone) { + this.bone = bone; + } + + public void StoreDefaultLocalState() { + boneMap.StoreDefaultLocalState(); + } + + public void FixTransforms() { + boneMap.FixTransform(false); + } + + /* + * Initiating and setting defaults + * */ + public override void Initiate(IKSolverFullBody solver) { + if (boneMap == null) boneMap = new BoneMap(); + + boneMap.Initiate(bone, solver); + } + + /* + * Pre-solving + * */ + public void ReadPose() { + boneMap.MaintainRotation(); + } + + public void WritePose(float solverWeight) { + // Rotating back to the last maintained rotation + boneMap.RotateToMaintain(solverWeight * maintainRotationWeight); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs.meta new file mode 100644 index 00000000..a01de8d0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingBone.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2b454b4eecba84e17a9a861f36967230 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs new file mode 100644 index 00000000..e73451df --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs @@ -0,0 +1,184 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Maps a 3-segmented bone hierarchy to a node chain of an %IK Solver + /// + [System.Serializable] + public class IKMappingLimb: IKMapping { + + #region Main Interface + + /// + /// Limb Bone Map type + /// + [System.Serializable] + public enum BoneMapType { + Parent, + Bone1, + Bone2, + Bone3 + } + + /// + /// The optional parent bone (clavicle). + /// + public Transform parentBone; + /// + /// The first bone (upper arm or thigh). + /// + public Transform bone1; + /// + /// The second bone (forearm or calf). + /// + public Transform bone2; + /// + /// The third bone (hand or foot). + /// + public Transform bone3; + /// + /// The weight of maintaining the third bone's rotation as it was in the animation + /// + [Range(0f, 1f)] + public float maintainRotationWeight; + /// + /// The weight of mapping the limb to its IK pose. This can be useful if you want to disable the effect of IK for the limb. + /// + [Range(0f, 1f)] + public float weight = 1f; // Added in 0.2 + /// + /// Disable this to maintain original sampled rotations of the limb bones relative to each other. + /// + [System.NonSerializedAttribute] public bool updatePlaneRotations = true; + + /// + /// Determines whether this IKMappingLimb is valid + /// + public override bool IsValid(IKSolver solver, ref string message) { + if (!base.IsValid(solver, ref message)) return false; + + if (!BoneIsValid(bone1, solver, ref message)) return false; + if (!BoneIsValid(bone2, solver, ref message)) return false; + if (!BoneIsValid(bone3, solver, ref message)) return false; + + return true; + } + + /// + /// Gets the bone map of the specified bone. + /// + public BoneMap GetBoneMap(BoneMapType boneMap) { + switch(boneMap) { + case BoneMapType.Parent: + if (parentBone == null) Warning.Log("This limb does not have a parent (shoulder) bone", bone1); + return boneMapParent; + case BoneMapType.Bone1: return boneMap1; + case BoneMapType.Bone2: return boneMap2; + default: return boneMap3; + } + } + + /// + /// Makes the limb mapped to the specific local directions of the bones. Added in 0.3 + /// + public void SetLimbOrientation(Vector3 upper, Vector3 lower) { + boneMap1.defaultLocalTargetRotation = Quaternion.Inverse(Quaternion.Inverse(bone1.rotation) * Quaternion.LookRotation(bone2.position - bone1.position, bone1.rotation * -upper)); + boneMap2.defaultLocalTargetRotation = Quaternion.Inverse(Quaternion.Inverse(bone2.rotation) * Quaternion.LookRotation(bone3.position - bone2.position, bone2.rotation * -lower)); + } + + #endregion Main Interface + + private BoneMap boneMapParent = new BoneMap(), boneMap1 = new BoneMap(), boneMap2 = new BoneMap(), boneMap3 = new BoneMap(); + + public IKMappingLimb() {} + + public IKMappingLimb(Transform bone1, Transform bone2, Transform bone3, Transform parentBone = null) { + SetBones(bone1, bone2, bone3, parentBone); + } + + public void SetBones(Transform bone1, Transform bone2, Transform bone3, Transform parentBone = null) { + this.bone1 = bone1; + this.bone2 = bone2; + this.bone3 = bone3; + this.parentBone = parentBone; + } + + public void StoreDefaultLocalState() { + if (parentBone != null) boneMapParent.StoreDefaultLocalState(); + boneMap1.StoreDefaultLocalState(); + boneMap2.StoreDefaultLocalState(); + boneMap3.StoreDefaultLocalState(); + } + + public void FixTransforms() { + if (parentBone != null) boneMapParent.FixTransform(false); + boneMap1.FixTransform(true); + boneMap2.FixTransform(false); + boneMap3.FixTransform(false); + } + + /* + * Initiating and setting defaults + * */ + public override void Initiate(IKSolverFullBody solver) { + if (boneMapParent == null) boneMapParent = new BoneMap(); + if (boneMap1 == null) boneMap1 = new BoneMap(); + if (boneMap2 == null) boneMap2 = new BoneMap(); + if (boneMap3 == null) boneMap3 = new BoneMap(); + + // Finding the nodes + if (parentBone != null) boneMapParent.Initiate(parentBone, solver); + boneMap1.Initiate(bone1, solver); + boneMap2.Initiate(bone2, solver); + boneMap3.Initiate(bone3, solver); + + // Define plane points for the bone maps + boneMap1.SetPlane(solver, boneMap1.transform, boneMap2.transform, boneMap3.transform); + boneMap2.SetPlane(solver, boneMap2.transform, boneMap3.transform, boneMap1.transform); + + // Find the swing axis for the parent bone + if (parentBone != null) boneMapParent.SetLocalSwingAxis(boneMap1); + } + + /* + * Presolving the bones and maintaining rotation + * */ + public void ReadPose() { + boneMap1.UpdatePlane(updatePlaneRotations, true); + boneMap2.UpdatePlane(updatePlaneRotations, false); + + // Clamping weights + weight = Mathf.Clamp(weight, 0f, 1f); + + // Define plane points for the bone maps + boneMap3.MaintainRotation(); + } + + public void WritePose(IKSolverFullBody solver, bool fullBody) { + if (weight <= 0f) return; + + // Swing the parent bone to look at the first node's position + if (fullBody) { + if (parentBone != null) { + boneMapParent.Swing(solver.GetNode(boneMap1.chainIndex, boneMap1.nodeIndex).solverPosition, weight); + //boneMapParent.Swing(boneMap1.node.solverPosition, weight); + } + + // Fix the first bone to its node + boneMap1.FixToNode(solver, weight); + } + + // Rotate the 2 first bones to the plane points + boneMap1.RotateToPlane(solver, weight); + boneMap2.RotateToPlane(solver, weight); + + // Rotate the third bone to the rotation it had before solving + boneMap3.RotateToMaintain(maintainRotationWeight * weight * solver.IKPositionWeight); + + // Rotate the third bone to the effector rotation + boneMap3.RotateToEffector(solver, weight); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs.meta new file mode 100644 index 00000000..4bf74055 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingLimb.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ef3f7e989de854a09aaf17ab4f391645 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs new file mode 100644 index 00000000..6acd7a1d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs @@ -0,0 +1,300 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Mapping a bone hierarchy to 2 triangles defined by the hip and chest planes. + /// + [System.Serializable] + public class IKMappingSpine: IKMapping { + + #region Main Interface + + /// + /// The spine bones. + /// + public Transform[] spineBones; + /// + /// The left upper arm bone. + /// + public Transform leftUpperArmBone; + /// + /// The right upper arm bone. + /// + public Transform rightUpperArmBone; + /// + /// The left thigh bone. + /// + public Transform leftThighBone; + /// + /// The right thigh bone. + /// + public Transform rightThighBone; + /// + /// The number of iterations of the %FABRIK algorithm. Not used if there are 2 bones assigned to Spine in the References. + /// + [Range(1, 3)] + public int iterations = 3; + /// + /// The weight of twisting the spine bones gradually to the orientation of the chest triangle. Relatively expensive, so set this to 0 if there is not much spine twisting going on. + /// + [Range(0f, 1f)] + public float twistWeight = 1f; + + /// + /// Determines whether this IKMappingSpine is valid + /// + public override bool IsValid(IKSolver solver, ref string message) { + if (!base.IsValid(solver, ref message)) return false; + + foreach (Transform spineBone in spineBones) if (spineBone == null) { + message = "Spine bones contains a null reference."; + return false; + } + + int nodes = 0; + for (int i = 0; i < spineBones.Length; i++) { + if (solver.GetPoint(spineBones[i]) != null) nodes ++; + } + + if (nodes == 0) { + message = "IKMappingSpine does not contain any nodes."; + return false; + } + + if (leftUpperArmBone == null) { + message = "IKMappingSpine is missing the left upper arm bone."; + return false; + } + + if (rightUpperArmBone == null) { + message = "IKMappingSpine is missing the right upper arm bone."; + return false; + } + + if (leftThighBone == null) { + message = "IKMappingSpine is missing the left thigh bone."; + return false; + } + + if (rightThighBone == null) { + message = "IKMappingSpine is missing the right thigh bone."; + return false; + } + + if (solver.GetPoint(leftUpperArmBone) == null) { + message = "Full Body IK is missing the left upper arm node."; + return false; + } + + if (solver.GetPoint(rightUpperArmBone) == null) { + message = "Full Body IK is missing the right upper arm node."; + return false; + } + + if (solver.GetPoint(leftThighBone) == null) { + message = "Full Body IK is missing the left thigh node."; + return false; + } + + if (solver.GetPoint(rightThighBone) == null) { + message = "Full Body IK is missing the right thigh node."; + return false; + } + return true; + } + + #endregion Main Interface + + private int rootNodeIndex; + private BoneMap[] spine = new BoneMap[0]; + private BoneMap leftUpperArm = new BoneMap(), rightUpperArm = new BoneMap(), leftThigh = new BoneMap(), rightThigh = new BoneMap(); + private bool useFABRIK; + + public IKMappingSpine() {} + + public IKMappingSpine(Transform[] spineBones, Transform leftUpperArmBone, Transform rightUpperArmBone, Transform leftThighBone, Transform rightThighBone) { + SetBones(spineBones, leftUpperArmBone, rightUpperArmBone, leftThighBone, rightThighBone); + } + + public void SetBones(Transform[] spineBones, Transform leftUpperArmBone, Transform rightUpperArmBone, Transform leftThighBone, Transform rightThighBone) { + this.spineBones = spineBones; + this.leftUpperArmBone = leftUpperArmBone; + this.rightUpperArmBone = rightUpperArmBone; + this.leftThighBone = leftThighBone; + this.rightThighBone = rightThighBone; + } + + public void StoreDefaultLocalState() { + for (int i = 0; i < spine.Length; i++) { + spine[i].StoreDefaultLocalState(); + } + } + + public void FixTransforms() { + for (int i = 0; i < spine.Length; i++) { + spine[i].FixTransform(i == 0 || i == spine.Length - 1); + } + } + + /* + * Initiating and setting defaults + * */ + public override void Initiate(IKSolverFullBody solver) { + if (iterations <= 0) iterations = 3; + + // Creating the bone maps + if (spine == null || spine.Length != spineBones.Length) spine = new BoneMap[spineBones.Length]; + + rootNodeIndex = -1; + + for (int i = 0; i < spineBones.Length; i++) { + if (spine[i] == null) spine[i] = new BoneMap(); + spine[i].Initiate(spineBones[i], solver); + + // Finding the root node + if (spine[i].isNodeBone) rootNodeIndex = i; + } + + if (leftUpperArm == null) leftUpperArm = new BoneMap(); + if (rightUpperArm == null) rightUpperArm = new BoneMap(); + if (leftThigh == null) leftThigh = new BoneMap(); + if (rightThigh == null) rightThigh = new BoneMap(); + + leftUpperArm.Initiate(leftUpperArmBone, solver); + rightUpperArm.Initiate(rightUpperArmBone, solver); + leftThigh.Initiate(leftThighBone, solver); + rightThigh.Initiate(rightThighBone, solver); + + for (int i = 0; i < spine.Length; i++) spine[i].SetIKPosition(); + + // Defining the plane for the first bone + spine[0].SetPlane(solver, spine[rootNodeIndex].transform, leftThigh.transform, rightThigh.transform); + + // Finding bone lengths and axes + for (int i = 0; i < spine.Length - 1; i++) { + spine[i].SetLength(spine[i + 1]); + spine[i].SetLocalSwingAxis(spine[i + 1]); + + spine[i].SetLocalTwistAxis(leftUpperArm.transform.position - rightUpperArm.transform.position, spine[i + 1].transform.position - spine[i].transform.position); + } + + // Defining the plane for the last bone + spine[spine.Length - 1].SetPlane(solver, spine[rootNodeIndex].transform, leftUpperArm.transform, rightUpperArm.transform); + spine[spine.Length - 1].SetLocalSwingAxis(leftUpperArm, rightUpperArm); + + useFABRIK = UseFABRIK(); + } + + // Should the spine mapping use the FABRIK algorithm + private bool UseFABRIK() { + if (spine.Length > 3) return true; + if (rootNodeIndex != 1) return true; + return false; + } + + /* + * Updating the bone maps to the current animated state of the character + * */ + public void ReadPose() { + spine[0].UpdatePlane(true, true); + + for (int i = 0; i < spine.Length - 1; i++) { + spine[i].SetLength(spine[i + 1]); + + spine[i].SetLocalSwingAxis(spine[i + 1]); + spine[i].SetLocalTwistAxis(leftUpperArm.transform.position - rightUpperArm.transform.position, spine[i + 1].transform.position - spine[i].transform.position); + } + + spine[spine.Length - 1].UpdatePlane(true, true); + spine[spine.Length - 1].SetLocalSwingAxis(leftUpperArm, rightUpperArm); + } + + /* + * Mapping the spine to the hip and chest planes + * */ + public void WritePose(IKSolverFullBody solver) { + Vector3 firstPosition = spine[0].GetPlanePosition(solver); + Vector3 rootPosition = solver.GetNode(spine[rootNodeIndex].chainIndex, spine[rootNodeIndex].nodeIndex).solverPosition; + Vector3 lastPosition = spine[spine.Length - 1].GetPlanePosition(solver); + + // If we have more than 3 bones, use the FABRIK algorithm + if (useFABRIK) { + Vector3 offset = solver.GetNode(spine[rootNodeIndex].chainIndex, spine[rootNodeIndex].nodeIndex).solverPosition - spine[rootNodeIndex].transform.position; + + for (int i = 0; i < spine.Length; i++) { + spine[i].ikPosition = spine[i].transform.position + offset; + } + + // Iterating the FABRIK algorithm + for (int i = 0; i < iterations; i++) { + ForwardReach(lastPosition); + BackwardReach(firstPosition); + spine[rootNodeIndex].ikPosition = rootPosition; + } + } else { + // When we have just 3 bones, we know their positions already + spine[0].ikPosition = firstPosition; + spine[rootNodeIndex].ikPosition = rootPosition; + } + + spine[spine.Length - 1].ikPosition = lastPosition; + + // Mapping the spine bones to the solver + MapToSolverPositions(solver); + } + + /* + * Stage 1 of the FABRIK algorithm. + * */ + public void ForwardReach(Vector3 position) { + // Lerp last bone's ikPosition to position + spine[spineBones.Length - 1].ikPosition = position; + + for (int i = spine.Length - 2; i > -1; i--) { + // Finding joint positions + spine[i].ikPosition = SolveFABRIKJoint(spine[i].ikPosition, spine[i + 1].ikPosition, spine[i].length); + } + } + + /* + * Stage 2 of the FABRIK algorithm + * */ + private void BackwardReach(Vector3 position) { + spine[0].ikPosition = position; + + // Finding joint positions + for (int i = 1; i < spine.Length; i++) { + spine[i].ikPosition = SolveFABRIKJoint(spine[i].ikPosition, spine[i - 1].ikPosition, spine[i - 1].length); + } + } + + /* + * Positioning and rotating the spine bones to match the solver positions + * */ + private void MapToSolverPositions(IKSolverFullBody solver) { + // Translating the first bone + // Note: spine here also includes the pelvis + spine[0].SetToIKPosition(); + spine[0].RotateToPlane(solver, 1f); + + // Translating all the bones between the first and the last + for (int i = 1; i < spine.Length - 1; i++) { + spine[i].Swing(spine[i + 1].ikPosition, 1f); + + if (twistWeight > 0) { + float bWeight = (float)i / ((float)spine.Length - 2); + + Vector3 s1 = solver.GetNode(leftUpperArm.chainIndex, leftUpperArm.nodeIndex).solverPosition; + Vector3 s2 = solver.GetNode(rightUpperArm.chainIndex, rightUpperArm.nodeIndex).solverPosition; + spine[i].Twist(s1 - s2, spine[i + 1].ikPosition - spine[i].transform.position, bWeight * twistWeight); + } + } + + // Translating the last bone + spine[spine.Length - 1].SetToIKPosition(); + spine[spine.Length - 1].RotateToPlane(solver, 1f); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs.meta new file mode 100644 index 00000000..1f3e8ac0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKMappingSpine.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d268325743f394a8a8e524836dceecf1 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs new file mode 100644 index 00000000..91b18917 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs @@ -0,0 +1,453 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// The base abstract class for all %IK solvers + /// + [System.Serializable] + public abstract class IKSolver { + + #region Main Interface + + [HideInInspector] public bool executedInEditor; + + /// + /// Determines whether this instance is valid or not. + /// + public bool IsValid() { + string message = string.Empty; + return IsValid(ref message); + } + + /// + /// Determines whether this instance is valid or not. If returns false, also fills in an error message. + /// + public abstract bool IsValid(ref string message); + + /// + /// Initiate the solver with specified root Transform. Use only if this %IKSolver is not a member of an %IK component. + /// + public void Initiate(Transform root) { + if (executedInEditor) return; + if (OnPreInitiate != null) OnPreInitiate(); + + if (root == null) Debug.LogError("Initiating IKSolver with null root Transform."); + this.root = root; + initiated = false; + + string message = string.Empty; + if (!IsValid(ref message)) { + Warning.Log(message, root, false); + return; + } + + + OnInitiate(); + StoreDefaultLocalState(); + initiated = true; + firstInitiation = false; + + if (OnPostInitiate != null) OnPostInitiate(); + } + + /// + /// Updates the %IK solver. Use only if this %IKSolver is not a member of an %IK component or the %IK component has been disabled and you intend to manually control the updating. + /// + public void Update() { + if (OnPreUpdate != null) OnPreUpdate(); + + if (firstInitiation) Initiate(root); // when the IK component has been disabled in Awake, this will initiate it. + if (!initiated) return; + + OnUpdate(); + + if (OnPostUpdate != null) OnPostUpdate(); + } + + /// + /// The %IK position. + /// + [HideInInspector] public Vector3 IKPosition; + + [Tooltip("The positional or the master weight of the solver.")] + /// + /// The %IK position weight or the master weight of the solver. + /// + [Range(0f, 1f)] + public float IKPositionWeight = 1f; + + /// + /// Gets the %IK position. NOTE: You are welcome to read IKPosition directly, this method is here only to match the Unity's built in %IK API. + /// + public virtual Vector3 GetIKPosition() { + return IKPosition; + } + + /// + /// Sets the %IK position. NOTE: You are welcome to set IKPosition directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetIKPosition(Vector3 position) { + IKPosition = position; + } + + /// + /// Gets the %IK position weight. NOTE: You are welcome to read IKPositionWeight directly, this method is here only to match the Unity's built in %IK API. + /// + public float GetIKPositionWeight() { + return IKPositionWeight; + } + + /// + /// Sets the %IK position weight. NOTE: You are welcome to set IKPositionWeight directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetIKPositionWeight(float weight) { + IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + } + + /// + /// Gets the root Transform. + /// + public Transform GetRoot() { + return root; + } + + /// + /// Gets a value indicating whether this has successfully initiated. + /// + public bool initiated { get; private set; } + + /// + /// Gets all the points used by the solver. + /// + public abstract IKSolver.Point[] GetPoints(); + + /// + /// Gets the point with the specified Transform. + /// + public abstract IKSolver.Point GetPoint(Transform transform); + + /// + /// Fixes all the Transforms used by the solver to their initial state. + /// + public abstract void FixTransforms(); + + /// + /// Stores the default local state for the bones used by the solver. + /// + public abstract void StoreDefaultLocalState(); + + /// + /// The most basic element type in the %IK chain that all other types extend from. + /// + [System.Serializable] + public class Point { + + /// + /// The transform. + /// + public Transform transform; + /// + /// The weight of this bone in the solver. + /// + [Range(0f, 1f)] + public float weight = 1f; + /// + /// Virtual position in the %IK solver. + /// + public Vector3 solverPosition; + /// + /// Virtual rotation in the %IK solver. + /// + public Quaternion solverRotation = Quaternion.identity; + /// + /// The default local position of the Transform. + /// + public Vector3 defaultLocalPosition; + /// + /// The default local rotation of the Transform. + /// + public Quaternion defaultLocalRotation; + + /// + /// Stores the default local state of the point. + /// + public void StoreDefaultLocalState() { + defaultLocalPosition = transform.localPosition; + defaultLocalRotation = transform.localRotation; + } + + /// + /// Fixes the transform to its default local state. + /// + public void FixTransform() { + if (transform.localPosition != defaultLocalPosition) transform.localPosition = defaultLocalPosition; + if (transform.localRotation != defaultLocalRotation) transform.localRotation = defaultLocalRotation; + } + + /// + /// Updates the solverPosition (in world space). + /// + public void UpdateSolverPosition() { + solverPosition = transform.position; + } + + /// + /// Updates the solverPosition (in local space). + /// + public void UpdateSolverLocalPosition() { + solverPosition = transform.localPosition; + } + + /// + /// Updates the solverPosition/Rotation (in world space). + /// + public void UpdateSolverState() { + solverPosition = transform.position; + solverRotation = transform.rotation; + } + + /// + /// Updates the solverPosition/Rotation (in local space). + /// + public void UpdateSolverLocalState() { + solverPosition = transform.localPosition; + solverRotation = transform.localRotation; + } + } + + /// + /// %Bone type of element in the %IK chain. Used in the case of skeletal Transform hierarchies. + /// + [System.Serializable] + public class Bone: Point { + + /// + /// The length of the bone. + /// + public float length; + /// + /// The sqr mag of the bone. + /// + public float sqrMag; + /// + /// Local axis to target/child bone. + /// + public Vector3 axis = -Vector3.right; + + /// + /// Gets the rotation limit component from the Transform if there is any. + /// + public RotationLimit rotationLimit { + get { + if (!isLimited) return null; + if (_rotationLimit == null) _rotationLimit = transform.GetComponent(); + isLimited = _rotationLimit != null; + return _rotationLimit; + } + set { + _rotationLimit = value; + isLimited = value != null; + } + } + + /* + * Swings the Transform's axis towards the swing target + * */ + public void Swing(Vector3 swingTarget, float weight = 1f) { + if (weight <= 0f) return; + + Quaternion r = Quaternion.FromToRotation(transform.rotation * axis, swingTarget - transform.position); + + if (weight >= 1f) { + transform.rotation = r * transform.rotation; + return; + } + + transform.rotation = Quaternion.Lerp(Quaternion.identity, r, weight) * transform.rotation; + } + + public static void SolverSwing(Bone[] bones, int index, Vector3 swingTarget, float weight = 1f) { + if (weight <= 0f) return; + + Quaternion r = Quaternion.FromToRotation(bones[index].solverRotation * bones[index].axis, swingTarget - bones[index].solverPosition); + + if (weight >= 1f) { + for (int i = index; i < bones.Length; i++) { + bones[i].solverRotation = r * bones[i].solverRotation; + } + return; + } + + for (int i = index; i < bones.Length; i++) { + bones[i].solverRotation = Quaternion.Lerp(Quaternion.identity, r, weight) * bones[i].solverRotation; + } + } + + /* + * Swings the Transform's axis towards the swing target on the XY plane only + * */ + public void Swing2D(Vector3 swingTarget, float weight = 1f) { + if (weight <= 0f) return; + + Vector3 from = transform.rotation * axis; + Vector3 to = swingTarget - transform.position; + + float angleFrom = Mathf.Atan2(from.x, from.y) * Mathf.Rad2Deg; + float angleTo = Mathf.Atan2(to.x, to.y) * Mathf.Rad2Deg; + + transform.rotation = Quaternion.AngleAxis(Mathf.DeltaAngle(angleFrom, angleTo) * weight, Vector3.back) * transform.rotation; + } + + /* + * Moves the bone to the solver position + * */ + public void SetToSolverPosition() { + transform.position = solverPosition; + } + + public Bone() {} + + public Bone (Transform transform) { + this.transform = transform; + } + + public Bone (Transform transform, float weight) { + this.transform = transform; + this.weight = weight; + } + + private RotationLimit _rotationLimit; + private bool isLimited = true; + } + + /// + /// %Node type of element in the %IK chain. Used in the case of mixed/non-hierarchical %IK systems + /// + [System.Serializable] + public class Node: Point { + + /// + /// Distance to child node. + /// + public float length; + /// + /// The effector position weight. + /// + public float effectorPositionWeight; + /// + /// The effector rotation weight. + /// + public float effectorRotationWeight; + /// + /// Position offset. + /// + public Vector3 offset; + + public Node() {} + + public Node (Transform transform) { + this.transform = transform; + } + + public Node (Transform transform, float weight) { + this.transform = transform; + this.weight = weight; + } + } + + /// + /// Delegates solver update events. + /// + public delegate void UpdateDelegate(); + /// + /// Delegates solver iteration events. + /// + public delegate void IterationDelegate(int i); + + /// + /// Called before initiating the solver. + /// + public UpdateDelegate OnPreInitiate; + /// + /// Called after initiating the solver. + /// + public UpdateDelegate OnPostInitiate; + /// + /// Called before updating. + /// + public UpdateDelegate OnPreUpdate; + /// + /// Called after writing the solved pose + /// + public UpdateDelegate OnPostUpdate; + + #endregion Main Interface + + protected abstract void OnInitiate(); + protected abstract void OnUpdate(); + + protected bool firstInitiation = true; + [SerializeField][HideInInspector] protected Transform root; + + protected void LogWarning(string message) { + Warning.Log(message, root, true); + } + + #region Class Methods + + /// + /// Checks if an array of objects contains any duplicates. + /// + public static Transform ContainsDuplicateBone(Bone[] bones) { + for (int i = 0; i < bones.Length; i++) { + for (int i2 = 0; i2 < bones.Length; i2++) { + if (i != i2 && bones[i].transform == bones[i2].transform) return bones[i].transform; + } + } + return null; + } + + /* + * Make sure the bones are in valid Hierarchy + * */ + public static bool HierarchyIsValid(IKSolver.Bone[] bones) { + for (int i = 1; i < bones.Length; i++) { + // If parent bone is not an ancestor of bone, the hierarchy is invalid + if (!Hierarchy.IsAncestor(bones[i].transform, bones[i - 1].transform)) { + return false; + } + } + return true; + } + + // Calculates bone lengths and axes, returns the length of the entire chain + protected static float PreSolveBones(ref Bone[] bones) { + float length = 0; + + for (int i = 0; i < bones.Length; i++) { + bones[i].solverPosition = bones[i].transform.position; + bones[i].solverRotation = bones[i].transform.rotation; + } + + for (int i = 0; i < bones.Length; i++) { + if (i < bones.Length - 1) { + bones[i].sqrMag = (bones[i + 1].solverPosition - bones[i].solverPosition).sqrMagnitude; + bones[i].length = Mathf.Sqrt(bones[i].sqrMag); + length += bones[i].length; + + bones[i].axis = Quaternion.Inverse(bones[i].solverRotation) * (bones[i + 1].solverPosition - bones[i].solverPosition); + } else { + bones[i].sqrMag = 0f; + bones[i].length = 0f; + } + } + + return length; + } + + #endregion Class Methods + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs.meta new file mode 100644 index 00000000..416de3f5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolver.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2613038c163cb4eb4b8ca6f6b9021588 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs new file mode 100644 index 00000000..617f0ca2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs @@ -0,0 +1,251 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Rotates a hierarchy of bones to make a Transform aim at a target. + /// If there are problems with continuity and the solver get's jumpy, make sure to keep IKPosition at a safe distance from the transform and try decreasing solver and bone weights. + /// + [System.Serializable] + public class IKSolverAim : IKSolverHeuristic { + + #region Main Interface + + /// + /// The transform that we want to aim at IKPosition. + /// + public Transform transform; + /// + /// The local axis of the Transform that you want to be aimed at IKPosition. + /// + public Vector3 axis = Vector3.forward; + /// + /// Keeps that axis of the Aim Transform directed at the polePosition. + /// + public Vector3 poleAxis = Vector3.up; + /// + /// The position in world space to keep the pole axis of the Aim Transform directed at. + /// + public Vector3 polePosition; + /// + /// The weight of the Pole. + /// + [Range(0f, 1f)] + public float poleWeight; + /// + /// If assigned, will automatically set polePosition to the position of this Transform. + /// + public Transform poleTarget; + /// + /// Clamping rotation of the solver. 0 is free rotation, 1 is completely clamped to transform axis. + /// + [Range(0f, 1f)] + public float clampWeight = 0.1f; + /// + /// Number of sine smoothing iterations applied to clamping to make it smoother. + /// + [Range(0, 2)] + public int clampSmoothing = 2; + + /// + /// Gets the angular offset. + /// + public float GetAngle() { + return Vector3.Angle(transformAxis, IKPosition - transform.position); + } + + /// + /// Gets the Axis of the AimTransform is world space. + /// + public Vector3 transformAxis { + get { + return transform.rotation * axis; + } + } + + /// + /// Gets the Pole Axis of the AimTransform is world space. + /// + public Vector3 transformPoleAxis { + get { + return transform.rotation * poleAxis; + } + } + + /// + /// Called before each iteration of the solver. + /// + public IterationDelegate OnPreIteration; + + #endregion Main Interface + + protected override void OnInitiate() { + if ((firstInitiation || !Application.isPlaying) && transform != null) { + IKPosition = transform.position + transformAxis * 3f; + polePosition = transform.position + transformPoleAxis * 3f; + } + + // Disable Rotation Limits from updating to take control of their execution order + for (int i = 0; i < bones.Length; i++) { + if (bones[i].rotationLimit != null) bones[i].rotationLimit.Disable(); + } + + step = 1f / (float)bones.Length; + if (Application.isPlaying) axis = axis.normalized; + } + + protected override void OnUpdate() { + if (axis == Vector3.zero) { + if (!Warning.logged) LogWarning("IKSolverAim axis is Vector3.zero."); + return; + } + + if (poleAxis == Vector3.zero && poleWeight > 0f) { + if (!Warning.logged) LogWarning("IKSolverAim poleAxis is Vector3.zero."); + return; + } + + if (target != null) IKPosition = target.position; + if (poleTarget != null) polePosition = poleTarget.position; + + if (XY) IKPosition.z = bones[0].transform.position.z; + + // Clamping weights + if (IKPositionWeight <= 0) return; + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + // Rotation Limit on the Aim Transform + if (transform != lastTransform) { + transformLimit = transform.GetComponent(); + if (transformLimit != null) transformLimit.enabled = false; + lastTransform = transform; + } + + if (transformLimit != null) transformLimit.Apply(); + + // In case transform becomes unassigned in runtime + if (transform == null) { + if (!Warning.logged) LogWarning("Aim Transform unassigned in Aim IK solver. Please Assign a Transform (lineal descendant to the last bone in the spine) that you want to be aimed at IKPosition"); + return; + } + + clampWeight = Mathf.Clamp(clampWeight, 0f, 1f); + clampedIKPosition = GetClampedIKPosition(); + + Vector3 dir = clampedIKPosition - transform.position; + dir = Vector3.Slerp(transformAxis * dir.magnitude, dir, IKPositionWeight); + clampedIKPosition = transform.position + dir; + + // Iterating the solver + for (int i = 0; i < maxIterations; i++) { + + // Optimizations + if (i >= 1 && tolerance > 0 && GetAngle() < tolerance) break; + lastLocalDirection = localDirection; + + if (OnPreIteration != null) OnPreIteration(i); + + Solve(); + } + + lastLocalDirection = localDirection; + } + + protected override int minBones { get { return 1; }} + + private float step; + private Vector3 clampedIKPosition; + private RotationLimit transformLimit; + private Transform lastTransform; + + /* + * Solving the hierarchy + * */ + private void Solve() { + // Rotating bones to get closer to target. + for (int i = 0; i < bones.Length - 1; i++) RotateToTarget(clampedIKPosition, bones[i], step * (i + 1) * IKPositionWeight * bones[i].weight); + RotateToTarget(clampedIKPosition, bones[bones.Length - 1], IKPositionWeight * bones[bones.Length - 1].weight); + } + + /* + * Clamping the IKPosition to legal range + * */ + private Vector3 GetClampedIKPosition() { + if (clampWeight <= 0f) return IKPosition; + if (clampWeight >= 1f) return transform.position + transformAxis * (IKPosition - transform.position).magnitude; + + // Getting the dot product of IK direction and transformAxis + //float dot = (Vector3.Dot(transformAxis, (IKPosition - transform.position).normalized) + 1) * 0.5f; + float angle = Vector3.Angle(transformAxis, (IKPosition - transform.position)); + float dot = 1f - (angle / 180f); + + // Clamping the target + float targetClampMlp = clampWeight > 0? Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f): 1f; + + // Calculating the clamp multiplier + float clampMlp = clampWeight > 0? Mathf.Clamp(dot / clampWeight, 0f, 1f): 1f; + + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + // Slerping the IK direction (don't use Lerp here, it breaks it) + return transform.position + Vector3.Slerp(transformAxis * 10f, IKPosition - transform.position, clampMlp * targetClampMlp); + } + + /* + * Rotating bone to get transform aim closer to target + * */ + private void RotateToTarget(Vector3 targetPosition, IKSolver.Bone bone, float weight) { + // Swing + if (XY) { + if (weight >= 0f) { + Vector3 dir = transformAxis; + Vector3 targetDir = targetPosition - transform.position; + + float angleDir = Mathf.Atan2(dir.x, dir.y) * Mathf.Rad2Deg; + float angleTarget = Mathf.Atan2(targetDir.x, targetDir.y) * Mathf.Rad2Deg; + + bone.transform.rotation = Quaternion.AngleAxis(Mathf.DeltaAngle(angleDir, angleTarget), Vector3.back) * bone.transform.rotation; + } + } else { + if (weight >= 0f) { + Quaternion rotationOffset = Quaternion.FromToRotation(transformAxis, targetPosition - transform.position); + + if (weight >= 1f) { + bone.transform.rotation = rotationOffset * bone.transform.rotation; + } else { + bone.transform.rotation = Quaternion.Lerp(Quaternion.identity, rotationOffset, weight) * bone.transform.rotation; + } + } + + // Pole + if (poleWeight > 0f) { + Vector3 poleDirection = polePosition - transform.position; + + // Ortho-normalize to transform axis to make this a twisting only operation + Vector3 poleDirOrtho = poleDirection; + Vector3 normal = transformAxis; + Vector3.OrthoNormalize(ref normal, ref poleDirOrtho); + + Quaternion toPole = Quaternion.FromToRotation(transformPoleAxis, poleDirOrtho); + bone.transform.rotation = Quaternion.Lerp(Quaternion.identity, toPole, weight * poleWeight) * bone.transform.rotation; + } + } + + if (useRotationLimits && bone.rotationLimit != null) bone.rotationLimit.Apply(); + } + + /* + * Gets the direction from last bone's forward in first bone's local space. + * */ + protected override Vector3 localDirection { + get { + return bones[0].transform.InverseTransformDirection(bones[bones.Length - 1].transform.forward); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs.meta new file mode 100644 index 00000000..0b5e194e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverAim.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4b9d7f152c7074f6ba84fdb7c6ee721c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs new file mode 100644 index 00000000..ce6fb014 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs @@ -0,0 +1,156 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// A wrapper for making IKSolverVRArm work with other IK components. + /// + [System.Serializable] + public class IKSolverArm : IKSolver { + + [Range(0f, 1f)] + public float IKRotationWeight = 1f; + /// + /// The %IK rotation target. + /// + public Quaternion IKRotation = Quaternion.identity; + + public IKSolver.Point chest = new IKSolver.Point(); + public IKSolver.Point shoulder = new IKSolver.Point(); + public IKSolver.Point upperArm = new IKSolver.Point(); + public IKSolver.Point forearm = new IKSolver.Point(); + public IKSolver.Point hand = new IKSolver.Point(); + + public bool isLeft; + + public IKSolverVR.Arm arm = new IKSolverVR.Arm(); + + private Vector3[] positions = new Vector3[6]; + private Quaternion[] rotations = new Quaternion[6]; + + public override bool IsValid(ref string message) { + if (chest.transform == null || shoulder.transform == null || upperArm.transform == null || forearm.transform == null || hand.transform == null) { + message = "Please assign all bone slots of the Arm IK solver."; + return false; + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[5] { chest.transform, shoulder.transform, upperArm.transform, forearm.transform, hand.transform }); + if (duplicate != null) { + message = duplicate.name + " is represented multiple times in the ArmIK."; + return false; + } + + return true; + } + + /// + /// Set IK rotation weight for the arm. + /// + public void SetRotationWeight(float weight) + { + IKRotationWeight = weight; + } + + /// + /// Reinitiate the solver with new bone Transforms. + /// + /// + /// Returns true if the new chain is valid. + /// + public bool SetChain(Transform chest, Transform shoulder, Transform upperArm, Transform forearm, Transform hand, Transform root) { + this.chest.transform = chest; + this.shoulder.transform = shoulder; + this.upperArm.transform = upperArm; + this.forearm.transform = forearm; + this.hand.transform = hand; + + Initiate(root); + return initiated; + } + + public override IKSolver.Point[] GetPoints() { + return new IKSolver.Point[5] { (IKSolver.Point)chest, (IKSolver.Point)shoulder, (IKSolver.Point)upperArm, (IKSolver.Point)forearm, (IKSolver.Point)hand }; + } + + public override IKSolver.Point GetPoint(Transform transform) { + if (chest.transform == transform) return (IKSolver.Point)chest; + if (shoulder.transform == transform) return (IKSolver.Point)shoulder; + if (upperArm.transform == transform) return (IKSolver.Point)upperArm; + if (forearm.transform == transform) return (IKSolver.Point)forearm; + if (hand.transform == transform) return (IKSolver.Point)hand; + return null; + } + + public override void StoreDefaultLocalState() { + shoulder.StoreDefaultLocalState(); + upperArm.StoreDefaultLocalState(); + forearm.StoreDefaultLocalState(); + hand.StoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + + shoulder.FixTransform(); + upperArm.FixTransform(); + forearm.FixTransform(); + hand.FixTransform(); + } + + protected override void OnInitiate() { + IKPosition = hand.transform.position; + IKRotation = hand.transform.rotation; + + Read (); + } + + protected override void OnUpdate() { + Read (); + Solve (); + Write (); + } + + private void Solve() { + arm.PreSolve (1f); + arm.ApplyOffsets(1f); + arm.Solve (isLeft); + arm.ResetOffsets (); + } + + private void Read() { + arm.IKPosition = IKPosition; + arm.positionWeight = IKPositionWeight; + arm.IKRotation = IKRotation; + arm.rotationWeight = IKRotationWeight; + + positions [0] = root.position; + positions [1] = chest.transform.position; + positions [2] = shoulder.transform.position; + positions [3] = upperArm.transform.position; + positions [4] = forearm.transform.position; + positions [5] = hand.transform.position; + + rotations [0] = root.rotation; + rotations [1] = chest.transform.rotation; + rotations [2] = shoulder.transform.rotation; + rotations [3] = upperArm.transform.rotation; + rotations [4] = forearm.transform.rotation; + rotations [5] = hand.transform.rotation; + + arm.Read(positions, rotations, false, false, true, false, false, 1, 2); + } + + private void Write() { + arm.Write (ref positions, ref rotations); + + shoulder.transform.rotation = rotations [2]; + upperArm.transform.rotation = rotations [3]; + forearm.transform.rotation = rotations [4]; + hand.transform.rotation = rotations [5]; + + forearm.transform.position = positions[4]; + hand.transform.position = positions[5]; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs.meta new file mode 100644 index 00000000..7564b38a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverArm.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: d3c8b68f5bcd81b41913fb93e0f5526d +timeCreated: 1528378875 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs new file mode 100644 index 00000000..3233edcf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs @@ -0,0 +1,114 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// CCD (Cyclic Coordinate Descent) constrainable heuristic inverse kinematics algorithm. + /// + [System.Serializable] + public class IKSolverCCD : IKSolverHeuristic { + + #region Main Interface + + /// + /// CCD tends to overemphasise the rotations of the bones closer to the target position. Reducing bone weight down the hierarchy will compensate for this effect. + /// + public void FadeOutBoneWeights() { + if (bones.Length < 2) return; + + bones[0].weight = 1f; + float step = 1f / (bones.Length - 1); + + for (int i = 1; i < bones.Length; i++) { + bones[i].weight = step * (bones.Length - 1 - i); + } + } + + /// + /// Called before each iteration of the solver. + /// + public IterationDelegate OnPreIteration; + + #endregion Main Interface + + protected override void OnInitiate() { + if (firstInitiation || !Application.isPlaying) IKPosition = bones[bones.Length - 1].transform.position; + + InitiateBones(); + } + + protected override void OnUpdate() { + if (IKPositionWeight <= 0) return; + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + if (target != null) IKPosition = target.position; + if (XY) IKPosition.z = bones[0].transform.position.z; + + Vector3 singularityOffset = maxIterations > 1? GetSingularityOffset(): Vector3.zero; + + // Iterating the solver + for (int i = 0; i < maxIterations; i++) { + + // Optimizations + if (singularityOffset == Vector3.zero && i >= 1 && tolerance > 0 && positionOffset < tolerance * tolerance) break; + lastLocalDirection = localDirection; + + if (OnPreIteration != null) OnPreIteration(i); + + Solve(IKPosition + (i == 0? singularityOffset: Vector3.zero)); + } + + lastLocalDirection = localDirection; + } + + /* + * Solve the CCD algorithm + * */ + protected void Solve(Vector3 targetPosition) { + // 2D + if (XY) { + for (int i = bones.Length - 2; i > -1; i--) { + //CCD tends to overemphasise the rotations of the bones closer to the target position. Reducing bone weight down the hierarchy will compensate for this effect. + float w = bones[i].weight * IKPositionWeight; + + if (w > 0f) { + Vector3 toLastBone = bones[bones.Length - 1].transform.position - bones[i].transform.position; + Vector3 toTarget = targetPosition - bones[i].transform.position; + + float angleToLastBone = Mathf.Atan2(toLastBone.x, toLastBone.y) * Mathf.Rad2Deg; + float angleToTarget = Mathf.Atan2(toTarget.x, toTarget.y) * Mathf.Rad2Deg; + + // Rotation to direct the last bone to the target + bones[i].transform.rotation = Quaternion.AngleAxis(Mathf.DeltaAngle(angleToLastBone, angleToTarget) * w, Vector3.back) * bones[i].transform.rotation; + } + + // Rotation Constraints + if (useRotationLimits && bones[i].rotationLimit != null) bones[i].rotationLimit.Apply(); + } + // 3D + } else { + for (int i = bones.Length - 2; i > -1; i--) { + // Slerp if weight is < 0 + //CCD tends to overemphasise the rotations of the bones closer to the target position. Reducing bone weight down the hierarchy will compensate for this effect. + float w = bones[i].weight * IKPositionWeight; + + if (w > 0f) { + Vector3 toLastBone = bones[bones.Length - 1].transform.position - bones[i].transform.position; + Vector3 toTarget = targetPosition - bones[i].transform.position; + + // Get the rotation to direct the last bone to the target + Quaternion targetRotation = Quaternion.FromToRotation(toLastBone, toTarget) * bones[i].transform.rotation; + + if (w >= 1) bones[i].transform.rotation = targetRotation; + else bones[i].transform.rotation = Quaternion.Lerp(bones[i].transform.rotation, targetRotation, w); + } + + // Rotation Constraints + if (useRotationLimits && bones[i].rotationLimit != null) bones[i].rotationLimit.Apply(); + } + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs.meta new file mode 100644 index 00000000..9747f86f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverCCD.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6380e07d356e34385a1e05bae6967fcc +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs new file mode 100644 index 00000000..e89c5f90 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs @@ -0,0 +1,359 @@ +using UnityEngine; +using System.Collections; +using System; + + namespace RootMotion.FinalIK { + + /// + /// Forward and Backward Reaching Inverse Kinematics solver. + /// + /// This class is based on the "FABRIK: A fast, iterative solver for the inverse kinematics problem." paper by Aristidou, A., Lasenby, J. + /// + [System.Serializable] + public class IKSolverFABRIK : IKSolverHeuristic { + + #region Main Interface + + /// + /// Solving stage 1 of the %FABRIK algorithm. + /// + public void SolveForward(Vector3 position) { + if (!initiated) { + if (!Warning.logged) LogWarning("Trying to solve uninitiated FABRIK chain."); + return; + } + + OnPreSolve(); + + ForwardReach(position); + } + + /// + /// Solving stage 2 of the %FABRIK algorithm. + /// + public void SolveBackward(Vector3 position) { + if (!initiated) { + if (!Warning.logged) LogWarning("Trying to solve uninitiated FABRIK chain."); + return; + } + + BackwardReach(position); + + OnPostSolve(); + } + + public override Vector3 GetIKPosition() { + if (target != null) return target.position; + return IKPosition; + } + + /// + /// Called before each iteration of the solver. + /// + public IterationDelegate OnPreIteration; + + #endregion Main Interface + + private bool[] limitedBones = new bool[0]; + private Vector3[] solverLocalPositions = new Vector3[0]; + + protected override void OnInitiate() { + if (firstInitiation || !Application.isPlaying) IKPosition = bones[bones.Length - 1].transform.position; + + for (int i = 0; i < bones.Length; i++) { + bones[i].solverPosition = bones[i].transform.position; + bones[i].solverRotation = bones[i].transform.rotation; + } + + limitedBones = new bool[bones.Length]; + solverLocalPositions = new Vector3[bones.Length]; + + InitiateBones(); + + for (int i = 0; i < bones.Length; i++) { + solverLocalPositions[i] = Quaternion.Inverse(GetParentSolverRotation(i)) * (bones[i].transform.position - GetParentSolverPosition(i)); + } + } + + protected override void OnUpdate() { + if (IKPositionWeight <= 0) return; + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + OnPreSolve(); + + if (target != null) IKPosition = target.position; + if (XY) IKPosition.z = bones[0].transform.position.z; + + Vector3 singularityOffset = maxIterations > 1? GetSingularityOffset(): Vector3.zero; + + // Iterating the solver + for (int i = 0; i < maxIterations; i++) { + // Optimizations + if (singularityOffset == Vector3.zero && i >= 1 && tolerance > 0 && positionOffset < tolerance * tolerance) break; + lastLocalDirection = localDirection; + + if (OnPreIteration != null) OnPreIteration(i); + + Solve(IKPosition + (i == 0? singularityOffset: Vector3.zero)); + } + + OnPostSolve(); + } + + /* + * If true, the solver will work with 0 length bones + * */ + protected override bool boneLengthCanBeZero { get { return false; }} // Returning false here also ensures that the bone lengths will be calculated + + /* + * Interpolates the joint position to match the bone's length + */ + private Vector3 SolveJoint(Vector3 pos1, Vector3 pos2, float length) { + if (XY) pos1.z = pos2.z; + + return pos2 + (pos1 - pos2).normalized * length; + } + + /* + * Check if bones have moved from last solved positions + * */ + private void OnPreSolve() { + chainLength = 0; + + for (int i = 0; i < bones.Length; i++) { + bones[i].solverPosition = bones[i].transform.position; + bones[i].solverRotation = bones[i].transform.rotation; + + if (i < bones.Length - 1) { + bones[i].length = (bones[i].transform.position - bones[i + 1].transform.position).magnitude; + bones[i].axis = Quaternion.Inverse(bones[i].transform.rotation) * (bones[i + 1].transform.position - bones[i].transform.position); + + chainLength += bones[i].length; + } + + if (useRotationLimits) solverLocalPositions[i] = Quaternion.Inverse(GetParentSolverRotation(i)) * (bones[i].transform.position - GetParentSolverPosition(i)); + } + } + + /* + * After solving the chain + * */ + private void OnPostSolve() { + // Rotating bones to match the solver positions + if (!useRotationLimits) MapToSolverPositions(); + else MapToSolverPositionsLimited(); + + lastLocalDirection = localDirection; + } + + private void Solve(Vector3 targetPosition) { + // Forward reaching + ForwardReach(targetPosition); + + // Backward reaching + BackwardReach(bones[0].transform.position); + } + + /* + * Stage 1 of FABRIK algorithm + * */ + private void ForwardReach(Vector3 position) { + // Lerp last bone's solverPosition to position + bones[bones.Length - 1].solverPosition = Vector3.Lerp(bones[bones.Length - 1].solverPosition, position, IKPositionWeight); + + for (int i = 0; i < limitedBones.Length; i++) limitedBones[i] = false; + + for (int i = bones.Length - 2; i > -1; i--) { + // Finding joint positions + bones[i].solverPosition = SolveJoint(bones[i].solverPosition, bones[i + 1].solverPosition, bones[i].length); + + // Limiting bone rotation forward + LimitForward(i, i + 1); + } + + // Limiting the first bone's rotation + LimitForward(0, 0); + } + + private void SolverMove(int index, Vector3 offset) { + for (int i = index; i < bones.Length; i++) { + bones[i].solverPosition += offset; + } + } + + private void SolverRotate(int index, Quaternion rotation, bool recursive) { + for (int i = index; i < bones.Length; i++) { + bones[i].solverRotation = rotation * bones[i].solverRotation; + + if (!recursive) return; + } + } + + private void SolverRotateChildren(int index, Quaternion rotation) { + for (int i = index + 1; i < bones.Length; i++) { + bones[i].solverRotation = rotation * bones[i].solverRotation; + } + } + + private void SolverMoveChildrenAroundPoint(int index, Quaternion rotation) { + for (int i = index + 1; i < bones.Length; i++) { + Vector3 dir = bones[i].solverPosition - bones[index].solverPosition; + bones[i].solverPosition = bones[index].solverPosition + rotation * dir; + } + } + + private Quaternion GetParentSolverRotation(int index) { + if (index > 0) return bones[index - 1].solverRotation; + if (bones[0].transform.parent == null) return Quaternion.identity; + return bones[0].transform.parent.rotation; + } + + private Vector3 GetParentSolverPosition(int index) { + if (index > 0) return bones[index - 1].solverPosition; + if (bones[0].transform.parent == null) return Vector3.zero; + return bones[0].transform.parent.position; + } + + private Quaternion GetLimitedRotation(int index, Quaternion q, out bool changed) { + changed = false; + + Quaternion parentRotation = GetParentSolverRotation(index); + Quaternion localRotation = Quaternion.Inverse(parentRotation) * q; + + Quaternion limitedLocalRotation = bones[index].rotationLimit.GetLimitedLocalRotation(localRotation, out changed); + + if (!changed) return q; + + return parentRotation * limitedLocalRotation; + } + + /* + * Applying rotation limit to a bone in stage 1 in a more stable way + * */ + private void LimitForward(int rotateBone, int limitBone) { + if (!useRotationLimits) return; + if (bones[limitBone].rotationLimit == null) return; + + // Storing last bone's position before applying the limit + Vector3 lastBoneBeforeLimit = bones[bones.Length - 1].solverPosition; + + // Moving and rotating this bone and all its children to their solver positions + for (int i = rotateBone; i < bones.Length - 1; i++) { + if (limitedBones[i]) break; + + Quaternion fromTo = Quaternion.FromToRotation(bones[i].solverRotation * bones[i].axis, bones[i + 1].solverPosition - bones[i].solverPosition); + SolverRotate(i, fromTo, false); + } + + // Limit the bone's rotation + bool changed = false; + Quaternion afterLimit = GetLimitedRotation(limitBone, bones[limitBone].solverRotation, out changed); + + if (changed) { + // Rotating and positioning the hierarchy so that the last bone's position is maintained + if (limitBone < bones.Length - 1) { + Quaternion change = QuaTools.FromToRotation(bones[limitBone].solverRotation, afterLimit); + bones[limitBone].solverRotation = afterLimit; + SolverRotateChildren(limitBone, change); + SolverMoveChildrenAroundPoint(limitBone, change); + + // Rotating to compensate for the limit + Quaternion fromTo = Quaternion.FromToRotation(bones[bones.Length - 1].solverPosition - bones[rotateBone].solverPosition, lastBoneBeforeLimit - bones[rotateBone].solverPosition); + + SolverRotate(rotateBone, fromTo, true); + SolverMoveChildrenAroundPoint(rotateBone, fromTo); + + // Moving the bone so that last bone maintains its initial position + SolverMove(rotateBone, lastBoneBeforeLimit - bones[bones.Length - 1].solverPosition); + } else { + // last bone + bones[limitBone].solverRotation = afterLimit; + } + } + + limitedBones[limitBone] = true; + } + + /* + * Stage 2 of FABRIK algorithm + * */ + private void BackwardReach(Vector3 position) { + if (useRotationLimits) BackwardReachLimited(position); + else BackwardReachUnlimited(position); + } + + /* + * Stage 2 of FABRIK algorithm without rotation limits + * */ + private void BackwardReachUnlimited(Vector3 position) { + // Move first bone to position + bones[0].solverPosition = position; + + // Finding joint positions + for (int i = 1; i < bones.Length; i++) { + bones[i].solverPosition = SolveJoint(bones[i].solverPosition, bones[i - 1].solverPosition, bones[i - 1].length); + } + } + + /* + * Stage 2 of FABRIK algorithm with limited rotations + * */ + private void BackwardReachLimited(Vector3 position) { + // Move first bone to position + bones[0].solverPosition = position; + + // Applying rotation limits bone by bone + for (int i = 0; i < bones.Length - 1; i++) { + // Rotating bone to look at the solved joint position + Vector3 nextPosition = SolveJoint(bones[i + 1].solverPosition, bones[i].solverPosition, bones[i].length); + + Quaternion swing = Quaternion.FromToRotation(bones[i].solverRotation * bones[i].axis, nextPosition - bones[i].solverPosition); + Quaternion targetRotation = swing * bones[i].solverRotation; + + // Rotation Constraints + if (bones[i].rotationLimit != null) { + bool changed = false; + targetRotation = GetLimitedRotation(i, targetRotation, out changed); + } + + Quaternion fromTo = QuaTools.FromToRotation(bones[i].solverRotation, targetRotation); + bones[i].solverRotation = targetRotation; + SolverRotateChildren(i, fromTo); + + // Positioning the next bone to its default local position + bones[i + 1].solverPosition = bones[i].solverPosition + bones[i].solverRotation * solverLocalPositions[i + 1]; + } + + // Reconstruct solver rotations to protect from invalid Quaternions + for (int i = 0; i < bones.Length; i++) { + bones[i].solverRotation = Quaternion.LookRotation(bones[i].solverRotation * Vector3.forward, bones[i].solverRotation * Vector3.up); + } + } + + /* + * Rotate bones to match the solver positions when not using Rotation Limits + * */ + private void MapToSolverPositions() { + bones[0].transform.position = bones[0].solverPosition; + + for (int i = 0; i < bones.Length - 1; i++) { + if (XY) { + bones[i].Swing2D(bones[i + 1].solverPosition); + } else { + bones[i].Swing(bones[i + 1].solverPosition); + } + } + } + + /* + * Rotate bones to match the solver positions when using Rotation Limits + * */ + private void MapToSolverPositionsLimited() { + bones[0].transform.position = bones[0].solverPosition; + + for (int i = 0; i < bones.Length; i++) { + if (i < bones.Length - 1) bones[i].transform.rotation = bones[i].solverRotation; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs.meta new file mode 100644 index 00000000..5c68dd57 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ebaef965ad4344c66afa96b93bc53c7a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs new file mode 100644 index 00000000..7aae1a97 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs @@ -0,0 +1,210 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// %IK system for multiple branched %FABRIK chains. + /// + [System.Serializable] + public class IKSolverFABRIKRoot : IKSolver { + + #region Main Interface + + /// + /// Solver iterations. + /// + public int iterations = 4; + /// + /// The weight of all chains being pinned to root position. + /// + [Range(0f, 1f)] + public float rootPin = 0f; + /// + /// The %FABRIK chains. + /// + public FABRIKChain[] chains = new FABRIKChain[0]; + + public override bool IsValid(ref string message) { + if (chains.Length == 0) { + message = "IKSolverFABRIKRoot contains no chains."; + return false; + } + + foreach (FABRIKChain chain in chains) { + if (!chain.IsValid(ref message)) return false; + } + + for (int i = 0; i < chains.Length; i++) { + for (int c = 0; c < chains.Length; c++) { + if (i != c && chains[i].ik == chains[c].ik) { + message = chains[i].ik.name + " is represented more than once in IKSolverFABRIKRoot chain."; + return false; + } + } + } + + // Check the children + for (int i = 0; i < chains.Length; i++) { + for (int c = 0; c < chains[i].children.Length; c++) { + int childIndex = chains[i].children[c]; + + if (childIndex < 0) { + message = chains[i].ik.name + "IKSolverFABRIKRoot chain at index " + i + " has invalid children array. Child index is < 0."; + return false; + } + + if (childIndex == i) { + message = chains[i].ik.name + "IKSolverFABRIKRoot chain at index " + i + " has invalid children array. Child index is referencing to itself."; + return false; + } + + if (childIndex >= chains.Length) { + message = chains[i].ik.name + "IKSolverFABRIKRoot chain at index " + i + " has invalid children array. Child index > number of chains"; + return false; + } + + // Check if the child chain doesn't have this chain among its children + for (int o = 0; o < chains.Length; o++) { + if (childIndex == o) { + for (int n = 0; n < chains[o].children.Length; n++) { + if (chains[o].children[n] == i) { + message = "Circular parenting. " + chains[o].ik.name + " already has " + chains[i].ik.name + " listed as its child."; + return false; + } + } + } + } + + // Check for duplicates + for (int n = 0; n < chains[i].children.Length; n++) { + if (c != n && chains[i].children[n] == childIndex) { + message = "Chain number " + childIndex + " is represented more than once in the children of " + chains[i].ik.name; + return false; + } + } + + + } + } + + return true; + } + + public override void StoreDefaultLocalState() { + rootDefaultPosition = root.localPosition; + for (int i = 0; i < chains.Length; i++) chains[i].ik.solver.StoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + + root.localPosition = rootDefaultPosition; + for (int i = 0; i < chains.Length; i++) chains[i].ik.solver.FixTransforms(); + } + + #endregion Main Interface + + private bool zeroWeightApplied; + private bool[] isRoot; + private Vector3 rootDefaultPosition; + + protected override void OnInitiate() { + for (int i = 0; i < chains.Length; i++) chains[i].Initiate(); + + isRoot = new bool[chains.Length]; + for (int i = 0; i < chains.Length; i++) { + isRoot[i] = IsRoot(i); + } + } + + // Is the chain at index a root chain (not parented by any other chains)? + private bool IsRoot(int index) { + for (int i = 0; i < chains.Length; i++) { + for (int c = 0; c < chains[i].children.Length; c++) { + if (chains[i].children[c] == index) return false; + } + } + return true; + } + + protected override void OnUpdate() { + if (IKPositionWeight <= 0 && zeroWeightApplied) return; + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + // Set weight of all IK solvers + for (int i = 0; i < chains.Length; i++) chains[i].ik.solver.IKPositionWeight = IKPositionWeight; + + if (IKPositionWeight <= 0) { + zeroWeightApplied = true; + return; + } + + zeroWeightApplied = false; + + for (int i = 0; i < iterations; i++) { + // Solve trees from their targets + for (int c = 0; c < chains.Length; c++) { + if (isRoot[c]) chains[c].Stage1(chains); + + } + + // Get centroid of all tree roots + Vector3 centroid = GetCentroid(); + root.position = centroid; + + // Start all trees from the centroid + for (int c = 0; c < chains.Length; c++) { + if (isRoot[c]) chains[c].Stage2(centroid, chains); + } + } + } + + public override IKSolver.Point[] GetPoints() { + IKSolver.Point[] array = new IKSolver.Point[0]; + for (int i = 0; i < chains.Length; i++) AddPointsToArray(ref array, chains[i]); + return array; + } + + public override IKSolver.Point GetPoint(Transform transform) { + IKSolver.Point p = null; + for (int i = 0; i < chains.Length; i++) { + p = chains[i].ik.solver.GetPoint(transform); + if (p != null) return p; + } + + return null; + } + + private void AddPointsToArray(ref IKSolver.Point[] array, FABRIKChain chain) { + IKSolver.Point[] chainArray = chain.ik.solver.GetPoints(); + Array.Resize(ref array, array.Length + chainArray.Length); + + int a = 0; + for (int i = array.Length - chainArray.Length; i < array.Length; i++) { + array[i] = chainArray[a]; + a++; + } + } + + /* + * Gets the centroid position of all chains respective of their pull weights + * */ + private Vector3 GetCentroid() { + Vector3 centroid = root.position; + if (rootPin >= 1) return centroid; + + float pullSum = 0f; + for (int i = 0; i < chains.Length; i++) { + if (isRoot[i]) pullSum += chains[i].pull; + } + + for (int i = 0; i < chains.Length; i++) { + if (isRoot[i] && pullSum > 0) centroid += (chains[i].ik.solver.bones[0].solverPosition - root.position) * (chains[i].pull / Mathf.Clamp(pullSum, 1f, pullSum)); + } + + return Vector3.Lerp(centroid, root.position, rootPin); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs.meta new file mode 100644 index 00000000..768a3979 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFABRIKRoot.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d3832891e51da482f8856a7689ca7c1b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs new file mode 100644 index 00000000..117d3b9f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs @@ -0,0 +1,317 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Generic FBIK solver. In each solver update, %IKSolverFullBody first reads the character's pose, then solves the %IK and writes the solved pose back to the character via IKMapping. + /// + [System.Serializable] + public class IKSolverFullBody : IKSolver { + + #region Main Interface + + /// + /// Number of solver iterations. + /// + [Range(0, 10)] + public int iterations = 4; + /// + /// The root node chain. + /// + public FBIKChain[] chain = new FBIKChain[0]; + /// + /// The effectors. + /// + public IKEffector[] effectors = new IKEffector[0]; + /// + /// Mapping spine bones to the solver. + /// + public IKMappingSpine spineMapping = new IKMappingSpine(); + /// + /// Mapping individual bones to the solver + /// + public IKMappingBone[] boneMappings = new IKMappingBone[0]; + /// + /// Mapping 3 segment limbs to the solver + /// + public IKMappingLimb[] limbMappings = new IKMappingLimb[0]; + /// + /// If false, will not solve a FABRIK pass and the arms/legs will not be able to pull the body. + /// + public bool FABRIKPass = true; + + /// + /// Gets the effector of the specified Transform. + /// + public IKEffector GetEffector(Transform t) { + for (int i = 0; i < effectors.Length; i++) if (effectors[i].bone == t) return effectors[i]; + return null; + } + + /// + /// Gets the chain that contains the specified Transform. + /// + public FBIKChain GetChain(Transform transform) { + int index = GetChainIndex(transform); + if (index == -1) return null; + return chain[index]; + } + + /// + /// Gets the index of the chain (in the IKSolverFullBody.chain array) that contains the specified Transform. + /// + public int GetChainIndex(Transform transform) { + for (int i = 0; i < chain.Length; i++) { + for (int n = 0; n < chain[i].nodes.Length; n++) if (chain[i].nodes[n].transform == transform) return i; + } + return -1; + } + + public IKSolver.Node GetNode(int chainIndex, int nodeIndex) { + return chain[chainIndex].nodes[nodeIndex]; + } + + public void GetChainAndNodeIndexes(Transform transform, out int chainIndex, out int nodeIndex) { + chainIndex = GetChainIndex(transform); + if (chainIndex == -1) nodeIndex = -1; + else nodeIndex = chain[chainIndex].GetNodeIndex(transform); + } + + public override IKSolver.Point[] GetPoints() { + int nodes = 0; + for (int i = 0; i < chain.Length; i++) nodes += chain[i].nodes.Length; + + IKSolver.Point[] pointArray = new IKSolver.Point[nodes]; + + int added = 0; + for (int i = 0; i < chain.Length; i++) { + for (int n = 0; n < chain[i].nodes.Length; n++) { + pointArray[added] = chain[i].nodes[n] as IKSolver.Node; + added++; + } + } + + return pointArray; + } + + public override IKSolver.Point GetPoint(Transform transform) { + for (int i = 0; i < chain.Length; i++) { + for (int n = 0; n < chain[i].nodes.Length; n++) if (chain[i].nodes[n].transform == transform) return chain[i].nodes[n] as IKSolver.Point; + } + return null; + } + + public override bool IsValid(ref string message) { + if (chain == null) { + message = "FBIK chain is null, can't initiate solver."; + return false; + } + + if (chain.Length == 0) { + message = "FBIK chain length is 0, can't initiate solver."; + return false; + } + + for (int i = 0; i < chain.Length; i++) { + if (!chain[i].IsValid(ref message)) return false; + } + + foreach (IKEffector e in effectors) if (!e.IsValid(this, ref message)) return false; + + if (!spineMapping.IsValid(this, ref message)) return false; + foreach (IKMappingLimb l in limbMappings) if (!l.IsValid(this, ref message)) return false; + foreach (IKMappingBone b in boneMappings) if (!b.IsValid(this, ref message)) return false; + + return true; + } + + /// + /// Called before reading the pose + /// + public UpdateDelegate OnPreRead; + /// + /// Called before solving. + /// + public UpdateDelegate OnPreSolve; + /// + /// Called before each iteration + /// + public IterationDelegate OnPreIteration; + /// + /// Called after each iteration + /// + public IterationDelegate OnPostIteration; + /// + /// Called before applying bend constraints. + /// + public UpdateDelegate OnPreBend; + /// + /// Called after updating the solver + /// + public UpdateDelegate OnPostSolve; + /// + /// Called when storing default local state (the state that FixTransforms will reset the hierarchy to). + /// + public UpdateDelegate OnStoreDefaultLocalState; + /// + /// Called when the bones used by the solver will reset to the default local state. + /// + public UpdateDelegate OnFixTransforms; + + #endregion Main Interface + + public override void StoreDefaultLocalState() { + spineMapping.StoreDefaultLocalState(); + for (int i = 0; i < limbMappings.Length; i++) limbMappings[i].StoreDefaultLocalState(); + for (int i = 0; i < boneMappings.Length; i++) boneMappings[i].StoreDefaultLocalState(); + + if (OnStoreDefaultLocalState != null) OnStoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + if (IKPositionWeight <= 0f) return; + + spineMapping.FixTransforms(); + for (int i = 0; i < limbMappings.Length; i++) limbMappings[i].FixTransforms(); + for (int i = 0; i < boneMappings.Length; i++) boneMappings[i].FixTransforms(); + + if (OnFixTransforms != null) OnFixTransforms(); + } + + protected override void OnInitiate() { + // Initiate chain + for (int i = 0; i < chain.Length; i++) { + chain[i].Initiate(this); + } + + // Initiate effectors + foreach (IKEffector e in effectors) e.Initiate(this); + + // Initiate IK mapping + spineMapping.Initiate(this); + foreach (IKMappingBone boneMapping in boneMappings) boneMapping.Initiate(this); + foreach (IKMappingLimb limbMapping in limbMappings) limbMapping.Initiate(this); + } + + protected override void OnUpdate() { + if (IKPositionWeight <= 0) { + // clear effector positionOffsets so they would not accumulate + for (int i = 0; i < effectors.Length; i++) effectors[i].positionOffset = Vector3.zero; + + return; + } + + if (chain.Length == 0) return; + + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + if (OnPreRead != null) OnPreRead(); + + // Phase 1: Read the pose of the biped + ReadPose(); + + if (OnPreSolve != null) OnPreSolve(); + + // Phase 2: Solve IK + Solve(); + + if (OnPostSolve != null) OnPostSolve(); + + // Phase 3: Map biped to its solved state + WritePose(); + + // Reset effector position offsets to Vector3.zero + for (int i = 0; i < effectors.Length; i++) effectors[i].OnPostWrite(); + } + + protected virtual void ReadPose() { + // Making sure the limbs are not inverted + for (int i = 0; i < chain.Length; i++) { + if (chain[i].bendConstraint.initiated) chain[i].bendConstraint.LimitBend(IKPositionWeight, GetEffector(chain[i].nodes[2].transform).positionWeight); + } + + // Presolve effectors, apply effector offset to the nodes + for (int i = 0; i < effectors.Length; i++) effectors[i].ResetOffset(this); + for (int i = 0; i < effectors.Length; i++) effectors[i].OnPreSolve(this); + + // Set solver positions to match the current bone positions of the biped + for (int i = 0; i < chain.Length; i++) { + chain[i].ReadPose(this, iterations > 0); + } + + // IKMapping + if (iterations > 0) { + spineMapping.ReadPose(); + for (int i = 0; i < boneMappings.Length; i++) boneMappings[i].ReadPose(); + } + + for (int i = 0; i < limbMappings.Length; i++) limbMappings[i].ReadPose(); + } + + protected virtual void Solve() { + // Iterate solver + if(iterations > 0) { + for (int i = 0; i < (FABRIKPass? iterations: 1); i++) { + if (OnPreIteration != null) OnPreIteration(i); + + // Apply end-effectors + for (int e = 0; e < effectors.Length; e++) if (effectors[e].isEndEffector) effectors[e].Update(this); + + if (FABRIKPass) { + // Reaching + chain[0].Push(this); + + // Reaching + if (FABRIKPass) chain[0].Reach(this); + + // Apply non end-effectors + for (int e = 0; e < effectors.Length; e++) if (!effectors[e].isEndEffector) effectors[e].Update(this); + } + + // Trigonometric pass to release push tension from the solver + chain[0].SolveTrigonometric(this); + + if (FABRIKPass) { + // Solving FABRIK forward + chain[0].Stage1(this); + + // Apply non end-effectors again + for (int e = 0; e < effectors.Length; e++) if (!effectors[e].isEndEffector) effectors[e].Update(this); + + // Solving FABRIK backwards + chain[0].Stage2(this, chain[0].nodes[0].solverPosition); + } + + if (OnPostIteration != null) OnPostIteration(i); + } + } + + // Before applying bend constraints (last chance to modify the bend direction) + if (OnPreBend != null) OnPreBend(); + + // Final end-effector pass + for (int i = 0; i < effectors.Length; i++) if (effectors[i].isEndEffector) effectors[i].Update(this); + + ApplyBendConstraints(); + } + + protected virtual void ApplyBendConstraints() { + // Solve bend constraints + chain[0].SolveTrigonometric(this, true); + } + + protected virtual void WritePose() { + if (IKPositionWeight <= 0f) return; + + // Apply IK mapping + if (iterations > 0) { + spineMapping.WritePose(this); + for (int i = 0; i < boneMappings.Length; i++) boneMappings[i].WritePose(IKPositionWeight); + } + + for (int i = 0; i < limbMappings.Length; i++) limbMappings[i].WritePose(this, iterations > 0); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs.meta new file mode 100644 index 00000000..b04461f2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBody.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5a0f2e3f14c5d4b7b8ed722e50626211 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs new file mode 100644 index 00000000..65549504 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs @@ -0,0 +1,580 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Full body biped IK effector types. + /// + [System.Serializable] + public enum FullBodyBipedEffector { + Body, + LeftShoulder, + RightShoulder, + LeftThigh, + RightThigh, + LeftHand, + RightHand, + LeftFoot, + RightFoot + } + + /// + /// Full body biped IK chain types. + /// + [System.Serializable] + public enum FullBodyBipedChain { + LeftArm, + RightArm, + LeftLeg, + RightLeg + } + + /// + /// FBIK solver specialized to biped characters. + /// + [System.Serializable] + public class IKSolverFullBodyBiped : IKSolverFullBody { + + #region Main Interface + + /// + /// The central root node (body). + /// + public Transform rootNode; + /// + /// The stiffness of spine constraints. + /// + [Range(0f, 1f)] + public float spineStiffness = 0.5f; + /// + /// Weight of hand effectors pulling the body vertically (relative to root rotation). + /// + [Range(-1f, 1f)] + public float pullBodyVertical = 0.5f; + /// + /// Weight of hand effectors pulling the body horizontally (relative to root rotation). + /// + [Range(-1f, 1f)] + public float pullBodyHorizontal = 0f; + + /// + /// Gets the body effector. + /// + public IKEffector bodyEffector { get { return GetEffector(FullBodyBipedEffector.Body); }} + /// + /// Gets the left shoulder effector. + /// + public IKEffector leftShoulderEffector { get { return GetEffector(FullBodyBipedEffector.LeftShoulder); }} + /// + /// Gets the right shoulder effector. + /// + public IKEffector rightShoulderEffector { get { return GetEffector(FullBodyBipedEffector.RightShoulder); }} + /// + /// Gets the left thigh effector. + /// + public IKEffector leftThighEffector { get { return GetEffector(FullBodyBipedEffector.LeftThigh); }} + /// + /// Gets the right thigh effector. + /// + public IKEffector rightThighEffector { get { return GetEffector(FullBodyBipedEffector.RightThigh); }} + /// + /// Gets the left hand effector. + /// + public IKEffector leftHandEffector { get { return GetEffector(FullBodyBipedEffector.LeftHand); }} + /// + /// Gets the right hand effector. + /// + public IKEffector rightHandEffector { get { return GetEffector(FullBodyBipedEffector.RightHand); }} + /// + /// Gets the left foot effector. + /// + public IKEffector leftFootEffector { get { return GetEffector(FullBodyBipedEffector.LeftFoot); }} + /// + /// Gets the right foot effector. + /// + public IKEffector rightFootEffector { get { return GetEffector(FullBodyBipedEffector.RightFoot); }} + + /// + /// Gets the left arm chain. + /// + public FBIKChain leftArmChain { get { return chain[1]; }} + /// + /// Gets the right arm chain. + /// + public FBIKChain rightArmChain { get { return chain[2]; }} + /// + /// Gets the left leg chain. + /// + public FBIKChain leftLegChain { get { return chain[3]; }} + /// + /// Gets the right leg chain. + /// + public FBIKChain rightLegChain { get { return chain[4]; }} + + /// + /// Gets the left arm IK mapping. + /// + public IKMappingLimb leftArmMapping { get { return limbMappings[0]; }} + /// + /// Gets the right arm IK mapping. + /// + public IKMappingLimb rightArmMapping { get { return limbMappings[1]; }} + /// + /// Gets the left leg IK mapping. + /// + public IKMappingLimb leftLegMapping { get { return limbMappings[2]; }} + /// + /// Gets the right leg IK mapping. + /// + public IKMappingLimb rightLegMapping { get { return limbMappings[3]; }} + /// + /// Gets the head IK mapping. + /// + public IKMappingBone headMapping { get { return boneMappings[0]; }} + + /// + /// Sets chain weights for the specified chain. + /// + public void SetChainWeights(FullBodyBipedChain c, float pull, float reach = 0f) { + GetChain(c).pull = pull; + GetChain(c).reach = reach; + } + + /// + /// Sets effector weights for the specified effector. + /// + public void SetEffectorWeights(FullBodyBipedEffector effector, float positionWeight, float rotationWeight) { + GetEffector(effector).positionWeight = Mathf.Clamp(positionWeight, 0f, 1f); + GetEffector(effector).rotationWeight = Mathf.Clamp(rotationWeight, 0f, 1f); + } + + /// + /// Gets the chain of a limb. + /// + public FBIKChain GetChain(FullBodyBipedChain c) { + switch(c) { + case FullBodyBipedChain.LeftArm: return chain[1]; + case FullBodyBipedChain.RightArm: return chain[2]; + case FullBodyBipedChain.LeftLeg: return chain[3]; + case FullBodyBipedChain.RightLeg: return chain[4]; + } + return null; + } + + /// + /// Gets the chain of the specified effector. + /// + public FBIKChain GetChain(FullBodyBipedEffector effector) { + switch(effector) { + case FullBodyBipedEffector.Body: return chain[0]; + case FullBodyBipedEffector.LeftShoulder: return chain[1]; + case FullBodyBipedEffector.RightShoulder: return chain[2]; + case FullBodyBipedEffector.LeftThigh: return chain[3]; + case FullBodyBipedEffector.RightThigh: return chain[4]; + case FullBodyBipedEffector.LeftHand: return chain[1]; + case FullBodyBipedEffector.RightHand: return chain[2]; + case FullBodyBipedEffector.LeftFoot: return chain[3]; + case FullBodyBipedEffector.RightFoot: return chain[4]; + } + return null; + } + + /// + /// Gets the effector of type. + /// + public IKEffector GetEffector(FullBodyBipedEffector effector) { + switch(effector) { + case FullBodyBipedEffector.Body: return effectors[0]; + case FullBodyBipedEffector.LeftShoulder: return effectors[1]; + case FullBodyBipedEffector.RightShoulder: return effectors[2]; + case FullBodyBipedEffector.LeftThigh: return effectors[3]; + case FullBodyBipedEffector.RightThigh: return effectors[4]; + case FullBodyBipedEffector.LeftHand: return effectors[5]; + case FullBodyBipedEffector.RightHand: return effectors[6]; + case FullBodyBipedEffector.LeftFoot: return effectors[7]; + case FullBodyBipedEffector.RightFoot: return effectors[8]; + } + return null; + } + + /// + /// Gets the effector of type. + /// + public IKEffector GetEndEffector(FullBodyBipedChain c) { + switch(c) { + case FullBodyBipedChain.LeftArm: return effectors[5]; + case FullBodyBipedChain.RightArm: return effectors[6]; + case FullBodyBipedChain.LeftLeg: return effectors[7]; + case FullBodyBipedChain.RightLeg: return effectors[8]; + } + return null; + } + + /// + /// Gets the limb mapping for the limb. + /// + public IKMappingLimb GetLimbMapping(FullBodyBipedChain chain) { + switch(chain) { + case FullBodyBipedChain.LeftArm: return limbMappings[0]; + case FullBodyBipedChain.RightArm: return limbMappings[1]; + case FullBodyBipedChain.LeftLeg: return limbMappings[2]; + case FullBodyBipedChain.RightLeg: return limbMappings[3]; + } + return null; + } + + /// + /// Gets the limb mapping for the effector type. + /// + public IKMappingLimb GetLimbMapping(FullBodyBipedEffector effector) { + switch(effector) { + case FullBodyBipedEffector.LeftShoulder: return limbMappings[0]; + case FullBodyBipedEffector.RightShoulder: return limbMappings[1]; + case FullBodyBipedEffector.LeftThigh: return limbMappings[2]; + case FullBodyBipedEffector.RightThigh: return limbMappings[3]; + case FullBodyBipedEffector.LeftHand: return limbMappings[0]; + case FullBodyBipedEffector.RightHand: return limbMappings[1]; + case FullBodyBipedEffector.LeftFoot: return limbMappings[2]; + case FullBodyBipedEffector.RightFoot: return limbMappings[3]; + default: return null; + } + } + + /// + /// Gets the spine mapping. + /// + public IKMappingSpine GetSpineMapping() { + return spineMapping; + } + + /// + /// Gets the head mapping. + /// + public IKMappingBone GetHeadMapping() { + return boneMappings[0]; + } + + /// + /// Gets the bend constraint of a limb. + /// + public IKConstraintBend GetBendConstraint(FullBodyBipedChain limb) { + switch(limb) { + case FullBodyBipedChain.LeftArm: return chain[1].bendConstraint; + case FullBodyBipedChain.RightArm: return chain[2].bendConstraint; + case FullBodyBipedChain.LeftLeg: return chain[3].bendConstraint; + case FullBodyBipedChain.RightLeg: return chain[4].bendConstraint; + } + return null; + } + + public override bool IsValid(ref string message) { + if (!base.IsValid(ref message)) return false; + + if (rootNode == null) { + message = "Root Node bone is null. FBBIK will not initiate."; + return false; + } + + if (chain.Length != 5 || + chain[0].nodes.Length != 1 || + chain[1].nodes.Length != 3 || + chain[2].nodes.Length != 3 || + chain[3].nodes.Length != 3 || + chain[4].nodes.Length != 3 || + effectors.Length != 9 || + limbMappings.Length != 4 + ) { + message = "Invalid FBBIK setup. Please right-click on the component header and select 'Reinitiate'."; + return false; + } + + return true; + } + + /// + /// Sets up the solver to BipedReferences and reinitiates (if in runtime). + /// + /// Biped references. + /// Root node (optional). if null, will try to detect the root node bone automatically. + public void SetToReferences(BipedReferences references, Transform rootNode = null) { + root = references.root; + + if (rootNode == null) rootNode = DetectRootNodeBone(references); + this.rootNode = rootNode; + + // Root Node + if (chain == null || chain.Length != 5) chain = new FBIKChain[5]; + for (int i = 0; i < chain.Length; i++) { + if (chain[i] == null) { + chain[i] = new FBIKChain(); + } + } + + chain[0].pin = 0f; + chain[0].SetNodes(rootNode); + chain[0].children = new int[4] { 1, 2, 3, 4 }; + + // Left Arm + chain[1].SetNodes(references.leftUpperArm, references.leftForearm, references.leftHand); + + // Right Arm + chain[2].SetNodes(references.rightUpperArm, references.rightForearm, references.rightHand); + + // Left Leg + chain[3].SetNodes(references.leftThigh, references.leftCalf, references.leftFoot); + + // Right Leg + chain[4].SetNodes(references.rightThigh, references.rightCalf, references.rightFoot); + + // Effectors + if (effectors.Length != 9) effectors = new IKEffector[9] { + new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector(), new IKEffector() + }; + + effectors[0].bone = rootNode; + effectors[0].childBones = new Transform[2] { references.leftThigh, references.rightThigh }; + + effectors[1].bone = references.leftUpperArm; + effectors[2].bone = references.rightUpperArm; + effectors[3].bone = references.leftThigh; + effectors[4].bone = references.rightThigh; + effectors[5].bone = references.leftHand; + effectors[6].bone = references.rightHand; + effectors[7].bone = references.leftFoot; + effectors[8].bone = references.rightFoot; + + effectors[5].planeBone1 = references.leftUpperArm; + effectors[5].planeBone2 = references.rightUpperArm; + effectors[5].planeBone3 = rootNode; + + effectors[6].planeBone1 = references.rightUpperArm; + effectors[6].planeBone2 = references.leftUpperArm; + effectors[6].planeBone3 = rootNode; + + effectors[7].planeBone1 = references.leftThigh; + effectors[7].planeBone2 = references.rightThigh; + effectors[7].planeBone3 = rootNode; + + effectors[8].planeBone1 = references.rightThigh; + effectors[8].planeBone2 = references.leftThigh; + effectors[8].planeBone3 = rootNode; + + // Child Constraints + chain[0].childConstraints = new FBIKChain.ChildConstraint[4] { + new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightThigh, 0f, 1f), + new FBIKChain.ChildConstraint(references.rightUpperArm, references.leftThigh, 0f, 1f), + new FBIKChain.ChildConstraint(references.leftUpperArm, references.rightUpperArm), + new FBIKChain.ChildConstraint(references.leftThigh, references.rightThigh) + + }; + + // IKMappingSpine + Transform[] spineBones = new Transform[references.spine.Length + 1]; + spineBones[0] = references.pelvis; + for (int i = 0; i < references.spine.Length; i++) { + spineBones[i + 1] = references.spine[i]; + } + + if (spineMapping == null) { + spineMapping = new IKMappingSpine(); + spineMapping.iterations = 3; + } + spineMapping.SetBones(spineBones, references.leftUpperArm, references.rightUpperArm, references.leftThigh, references.rightThigh); + + // IKMappingBone + int boneMappingsCount = references.head != null? 1: 0; + + if (boneMappings.Length != boneMappingsCount) { + boneMappings = new IKMappingBone[boneMappingsCount]; + for (int i = 0; i < boneMappings.Length; i++) { + boneMappings[i] = new IKMappingBone(); + } + if (boneMappingsCount == 1) boneMappings[0].maintainRotationWeight = 0f; + } + + if (boneMappings.Length > 0) boneMappings[0].bone = references.head; + + // IKMappingLimb + if (limbMappings.Length != 4) { + limbMappings = new IKMappingLimb[4] { + new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb(), new IKMappingLimb() + }; + + limbMappings[2].maintainRotationWeight = 1f; + limbMappings[3].maintainRotationWeight = 1f; + } + + limbMappings[0].SetBones(references.leftUpperArm, references.leftForearm, references.leftHand, GetLeftClavicle(references)); + limbMappings[1].SetBones(references.rightUpperArm, references.rightForearm, references.rightHand, GetRightClavicle(references)); + limbMappings[2].SetBones(references.leftThigh, references.leftCalf, references.leftFoot); + limbMappings[3].SetBones(references.rightThigh, references.rightCalf, references.rightFoot); + + if (Application.isPlaying) Initiate(references.root); + } + + /* + * Tries to guess which bone should be the root node + * */ + public static Transform DetectRootNodeBone(BipedReferences references) { + if (!references.isFilled) return null; + if (references.spine.Length < 1) return null; + + int spineLength = references.spine.Length; + if (spineLength == 1) return references.spine[0]; + + Vector3 hip = Vector3.Lerp(references.leftThigh.position, references.rightThigh.position, 0.5f); + Vector3 neck = Vector3.Lerp(references.leftUpperArm.position, references.rightUpperArm.position, 0.5f); + Vector3 toNeck = neck - hip; + float toNeckMag = toNeck.magnitude; + + if (references.spine.Length < 2) return references.spine[0]; + + int rootNodeBone = 0; + + for (int i = 1; i < spineLength; i++) { + Vector3 hipToBone = references.spine[i].position - hip; + Vector3 projection = Vector3.Project(hipToBone, toNeck); + + float dot = Vector3.Dot(projection.normalized, toNeck.normalized); + if (dot > 0) { + float mag = projection.magnitude / toNeckMag; + if (mag < 0.5f) rootNodeBone = i; + } + } + + return references.spine[rootNodeBone]; + } + + /// + /// Sets the bend directions of the limbs to the local axes specified by BipedLimbOrientations. + /// + public void SetLimbOrientations(BipedLimbOrientations o) { + SetLimbOrientation(FullBodyBipedChain.LeftArm, o.leftArm); + SetLimbOrientation(FullBodyBipedChain.RightArm, o.rightArm); + SetLimbOrientation(FullBodyBipedChain.LeftLeg, o.leftLeg); + SetLimbOrientation(FullBodyBipedChain.RightLeg, o.rightLeg); + } + + #endregion Main Interface + + // Offset applied to the body effector by PullBody + public Vector3 pullBodyOffset { get; private set; } + + /* + * Sets the bend direction of a limb to the local axes specified by the LimbOrientation. + * */ + private void SetLimbOrientation(FullBodyBipedChain chain, BipedLimbOrientations.LimbOrientation limbOrientation) { + bool inverse = chain == FullBodyBipedChain.LeftArm || chain == FullBodyBipedChain.RightArm; + + if (inverse) { + GetBendConstraint(chain).SetLimbOrientation(-limbOrientation.upperBoneForwardAxis, -limbOrientation.lowerBoneForwardAxis, -limbOrientation.lastBoneLeftAxis); + GetLimbMapping(chain).SetLimbOrientation(-limbOrientation.upperBoneForwardAxis, -limbOrientation.lowerBoneForwardAxis); + } else { + GetBendConstraint(chain).SetLimbOrientation(limbOrientation.upperBoneForwardAxis, limbOrientation.lowerBoneForwardAxis, limbOrientation.lastBoneLeftAxis); + GetLimbMapping(chain).SetLimbOrientation(limbOrientation.upperBoneForwardAxis, limbOrientation.lowerBoneForwardAxis); + } + } + + private static Transform GetLeftClavicle(BipedReferences references) { + if (references.leftUpperArm == null) return null; + if (!Contains(references.spine, references.leftUpperArm.parent)) return references.leftUpperArm.parent; + return null; + } + + private static Transform GetRightClavicle(BipedReferences references) { + if (references.rightUpperArm == null) return null; + if (!Contains(references.spine, references.rightUpperArm.parent)) return references.rightUpperArm.parent; + return null; + } + + private static bool Contains(Transform[] array, Transform transform) { + foreach (Transform t in array) if (t == transform) return true; + return false; + } + + protected override void ReadPose() { + // Set effectors to their targets + for (int i = 0; i < effectors.Length; i++) effectors[i].SetToTarget(); + + // Pulling the body with the hands + PullBody(); + + // Spine stiffness + float s = Mathf.Clamp(1f - spineStiffness, 0f, 1f); + chain[0].childConstraints[0].pushElasticity = s; + chain[0].childConstraints[1].pushElasticity = s; + + base.ReadPose(); + } + + /* + * Pulling the body with the hands + * */ + private void PullBody() { + if (iterations < 1) return; + + // Getting the body positionOffset + if (pullBodyVertical != 0f || pullBodyHorizontal != 0f) { + Vector3 offset = GetBodyOffset(); + + pullBodyOffset = V3Tools.ExtractVertical(offset, root.up, pullBodyVertical) + V3Tools.ExtractHorizontal(offset, root.up, pullBodyHorizontal); + bodyEffector.positionOffset += pullBodyOffset; + } + } + + /* + * Get pull offset of the body effector. + * */ + private Vector3 GetBodyOffset() { + Vector3 offset = Vector3.zero + GetHandBodyPull(leftHandEffector, leftArmChain, Vector3.zero) * Mathf.Clamp(leftHandEffector.positionWeight, 0f, 1f); + return offset + GetHandBodyPull(rightHandEffector, rightArmChain, offset) * Mathf.Clamp(rightHandEffector.positionWeight, 0f, 1f); + } + + /* + * Get pull offset of a hand + * */ + private Vector3 GetHandBodyPull(IKEffector effector, FBIKChain arm, Vector3 offset) { + // Get the vector from shoulder to hand effector + Vector3 direction = effector.position - (arm.nodes[0].transform.position + offset); + float armLength = arm.nodes[0].length + arm.nodes[1].length; + + // Find delta of effector distance and arm length + float dirMag = direction.magnitude; + + if (dirMag < armLength) return Vector3.zero; + float x = dirMag - armLength; + + return (direction / dirMag) * x; + } + + private Vector3 offset; + + protected override void ApplyBendConstraints() { + if (iterations > 0) { + chain[1].bendConstraint.rotationOffset = leftHandEffector.planeRotationOffset; + chain[2].bendConstraint.rotationOffset = rightHandEffector.planeRotationOffset; + chain[3].bendConstraint.rotationOffset = leftFootEffector.planeRotationOffset; + chain[4].bendConstraint.rotationOffset = rightFootEffector.planeRotationOffset; + } else { + offset = Vector3.Lerp(effectors[0].positionOffset, effectors[0].position - (effectors[0].bone.position + effectors[0].positionOffset), effectors[0].positionWeight); + + for (int i = 0; i < 5; i++) { + effectors[i].GetNode(this).solverPosition += offset; + } + } + + base.ApplyBendConstraints(); + } + + protected override void WritePose() { + if (iterations == 0) { + spineMapping.spineBones[0].position += offset; + } + + base.WritePose(); + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs.meta new file mode 100644 index 00000000..06a75051 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverFullBodyBiped.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: b06331060dc2744f495261b5eccb9ad9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs new file mode 100644 index 00000000..ebe336aa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs @@ -0,0 +1,235 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Contains methods common for all heuristic solvers. + /// + [System.Serializable] + public class IKSolverHeuristic: IKSolver { + + #region Main Interface + + /// + /// The target Transform. Solver IKPosition will be automatically set to the position of the target. + /// + public Transform target; + /// + /// Minimum distance from last reached position. Will stop solving if difference from previous reached position is less than tolerance. If tolerance is zero, will iterate until maxIterations. + /// + public float tolerance = 0f; + /// + /// Max iterations per frame + /// + public int maxIterations = 4; + /// + /// If true, rotation limits (if existing) will be applied on each iteration. + /// + public bool useRotationLimits = true; + /// + /// Solve in 2D? + /// + public bool XY; + /// + /// The hierarchy of bones. + /// + public Bone[] bones = new Bone[0]; + + /// + /// Rebuild the bone hierarcy and reinitiate the solver. + /// + /// + /// Returns true if the new chain is valid. + /// + public bool SetChain(Transform[] hierarchy, Transform root) { + if (bones == null || bones.Length != hierarchy.Length) bones = new Bone[hierarchy.Length]; + for (int i = 0; i < hierarchy.Length; i++) { + if (bones[i] == null) bones[i] = new IKSolver.Bone(); + bones[i].transform = hierarchy[i]; + } + + Initiate(root); + return initiated; + } + + /// + /// Adds a bone to the chain. + /// + public void AddBone(Transform bone) { + Transform[] newBones = new Transform[bones.Length + 1]; + + for (int i = 0; i < bones.Length; i++) { + newBones[i] = bones[i].transform; + } + + newBones[newBones.Length - 1] = bone; + + SetChain(newBones, root); + } + + public override void StoreDefaultLocalState() { + for (int i = 0; i < bones.Length; i++) bones[i].StoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + if (IKPositionWeight <= 0f) return; + + for (int i = 0; i < bones.Length; i++) bones[i].FixTransform(); + } + + public override bool IsValid(ref string message) { + if (bones.Length == 0) { + message = "IK chain has no Bones."; + return false; + } + if (bones.Length < minBones) { + message = "IK chain has less than " + minBones + " Bones."; + return false; + } + foreach (Bone bone in bones) { + if (bone.transform == null) { + message = "One of the Bones is null."; + return false; + } + } + + Transform duplicate = ContainsDuplicateBone(bones); + if (duplicate != null) { + message = duplicate.name + " is represented multiple times in the Bones."; + return false; + } + + if (!allowCommonParent && !HierarchyIsValid(bones)) { + message = "Invalid bone hierarchy detected. IK requires for its bones to be parented to each other in descending order."; + return false; + } + + if (!boneLengthCanBeZero) { + for (int i = 0; i < bones.Length - 1; i++) { + float l = (bones[i].transform.position - bones[i + 1].transform.position).magnitude; + if (l == 0) { + message = "Bone " + i + " length is zero."; + return false; + } + } + } + return true; + } + + public override IKSolver.Point[] GetPoints() { + return bones as IKSolver.Point[]; + } + + public override IKSolver.Point GetPoint(Transform transform) { + for (int i = 0; i < bones.Length; i++) if (bones[i].transform == transform) return bones[i] as IKSolver.Point; + return null; + } + + #endregion Main Interface + + protected virtual int minBones { get { return 2; }} + protected virtual bool boneLengthCanBeZero { get { return true; }} + protected virtual bool allowCommonParent { get { return false; }} + protected override void OnInitiate() {} + protected override void OnUpdate() {} + protected Vector3 lastLocalDirection; + protected float chainLength; + + /* + * Initiates all bones to match their current state + * */ + protected void InitiateBones() { + chainLength = 0; + + for (int i = 0; i < bones.Length; i++) { + // Find out which local axis is directed at child/target position + if (i < bones.Length - 1) { + bones[i].length = (bones[i].transform.position - bones[i + 1].transform.position).magnitude; + chainLength += bones[i].length; + + Vector3 nextPosition = bones[i + 1].transform.position; + bones[i].axis = Quaternion.Inverse(bones[i].transform.rotation) * (nextPosition - bones[i].transform.position); + + // Disable Rotation Limits from updating to take control of their execution order + if (bones[i].rotationLimit != null) { + if (XY) { + if (bones[i].rotationLimit is RotationLimitHinge) { + } else Warning.Log("Only Hinge Rotation Limits should be used on 2D IK solvers.", bones[i].transform); + } + bones[i].rotationLimit.Disable(); + } + } else { + bones[i].axis = Quaternion.Inverse(bones[i].transform.rotation) * (bones[bones.Length - 1].transform.position - bones[0].transform.position); + } + } + } + + #region Optimizations + + /* + * Gets the direction from last bone to first bone in first bone's local space. + * */ + protected virtual Vector3 localDirection { + get { + return bones[0].transform.InverseTransformDirection(bones[bones.Length - 1].transform.position - bones[0].transform.position); + } + } + + /* + * Gets the offset from last position of the last bone to its current position. + * */ + protected float positionOffset { + get { + return Vector3.SqrMagnitude(localDirection - lastLocalDirection); + } + } + + #endregion Optimizations + + /* + * Get target offset to break out of the linear singularity issue + * */ + protected Vector3 GetSingularityOffset() { + if (!SingularityDetected()) return Vector3.zero; + + Vector3 IKDirection = (IKPosition - bones[0].transform.position).normalized; + + Vector3 secondaryDirection = new Vector3(IKDirection.y, IKDirection.z, IKDirection.x); + + // Avoiding getting locked by the Hinge Rotation Limit + if (useRotationLimits && bones[bones.Length - 2].rotationLimit != null && bones[bones.Length - 2].rotationLimit is RotationLimitHinge) { + secondaryDirection = bones[bones.Length - 2].transform.rotation * bones[bones.Length - 2].rotationLimit.axis; + } + + return Vector3.Cross(IKDirection, secondaryDirection) * bones[bones.Length - 2].length * 0.5f; + } + + /* + * Detects linear singularity issue when the direction from first bone to IKPosition matches the direction from first bone to the last bone. + * */ + private bool SingularityDetected() { + if (!initiated) return false; + + Vector3 toLastBone = bones[bones.Length - 1].transform.position - bones[0].transform.position; + Vector3 toIKPosition = IKPosition - bones[0].transform.position; + + float toLastBoneDistance = toLastBone.magnitude; + float toIKPositionDistance = toIKPosition.magnitude; + + if (toLastBoneDistance < toIKPositionDistance) return false; + if (toLastBoneDistance < chainLength - (bones[bones.Length - 2].length * 0.1f)) return false; + if (toLastBoneDistance == 0) return false; + if (toIKPositionDistance == 0) return false; + if (toIKPositionDistance > toLastBoneDistance) return false; + + float dot = Vector3.Dot(toLastBone / toLastBoneDistance, toIKPosition / toIKPositionDistance); + if (dot < 0.999f) return false; + + return true; + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs.meta new file mode 100644 index 00000000..9739bf69 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverHeuristic.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 0ffa2c48532b04a7388e16278fe595ad +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs new file mode 100644 index 00000000..35347fc0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs @@ -0,0 +1,157 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// A wrapper for making IKSolverVRLeg work with other IK components and the Grounder. + /// + [System.Serializable] + public class IKSolverLeg : IKSolver { + + [Range(0f, 1f)] + public float IKRotationWeight = 1f; + /// + /// The %IK rotation target. + /// + public Quaternion IKRotation = Quaternion.identity; + + public IKSolver.Point pelvis = new IKSolver.Point(); + public IKSolver.Point thigh = new IKSolver.Point(); + public IKSolver.Point calf = new IKSolver.Point(); + public IKSolver.Point foot = new IKSolver.Point(); + public IKSolver.Point toe = new IKSolver.Point(); + + public IKSolverVR.Leg leg = new IKSolverVR.Leg(); + public Vector3 heelOffset; + + private Vector3[] positions = new Vector3[6]; + private Quaternion[] rotations = new Quaternion[6]; + + public override bool IsValid(ref string message) { + if (pelvis.transform == null || thigh.transform == null || calf.transform == null || foot.transform == null || toe.transform == null) { + message = "Please assign all bone slots of the Leg IK solver."; + return false; + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[5] { pelvis.transform, thigh.transform, calf.transform, foot.transform, toe.transform }); + if (duplicate != null) { + message = duplicate.name + " is represented multiple times in the LegIK."; + return false; + } + + return true; + } + + /// + /// Set IK rotation weight for the leg. + /// + public void SetRotationWeight(float weight) + { + IKRotationWeight = weight; + } + + /// + /// Reinitiate the solver with new bone Transforms. + /// + /// + /// Returns true if the new chain is valid. + /// + public bool SetChain(Transform pelvis, Transform thigh, Transform calf, Transform foot, Transform toe, Transform root) { + this.pelvis.transform = pelvis; + this.thigh.transform = thigh; + this.calf.transform = calf; + this.foot.transform = foot; + this.toe.transform = toe; + + Initiate(root); + return initiated; + } + + public override IKSolver.Point[] GetPoints() { + return new IKSolver.Point[5] { (IKSolver.Point)pelvis, (IKSolver.Point)thigh, (IKSolver.Point)calf, (IKSolver.Point)foot, (IKSolver.Point)toe }; + } + + public override IKSolver.Point GetPoint(Transform transform) { + if (pelvis.transform == transform) return (IKSolver.Point)pelvis; + if (thigh.transform == transform) return (IKSolver.Point)thigh; + if (calf.transform == transform) return (IKSolver.Point)calf; + if (foot.transform == transform) return (IKSolver.Point)foot; + if (toe.transform == transform) return (IKSolver.Point)toe; + return null; + } + + public override void StoreDefaultLocalState() { + thigh.StoreDefaultLocalState(); + calf.StoreDefaultLocalState(); + foot.StoreDefaultLocalState(); + toe.StoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + + thigh.FixTransform(); + calf.FixTransform(); + foot.FixTransform(); + toe.FixTransform(); + } + + protected override void OnInitiate() { + IKPosition = toe.transform.position; + IKRotation = toe.transform.rotation; + + Read (); + } + + protected override void OnUpdate() { + Read (); + Solve (); + Write (); + } + + private void Solve() { + leg.heelPositionOffset += heelOffset; + + leg.PreSolve (1f); + leg.ApplyOffsets(1f); + leg.Solve (true); + leg.ResetOffsets (); + } + + private void Read() { + leg.IKPosition = IKPosition; + leg.positionWeight = IKPositionWeight; + leg.IKRotation = IKRotation; + leg.rotationWeight = IKRotationWeight; + + positions [0] = root.position; + positions [1] = pelvis.transform.position; + positions [2] = thigh.transform.position; + positions [3] = calf.transform.position; + positions [4] = foot.transform.position; + positions [5] = toe.transform.position; + + rotations [0] = root.rotation; + rotations [1] = pelvis.transform.rotation; + rotations [2] = thigh.transform.rotation; + rotations [3] = calf.transform.rotation; + rotations [4] = foot.transform.rotation; + rotations [5] = toe.transform.rotation; + + leg.Read(positions, rotations, false, false, false, true, true, 1, 2); + } + + private void Write() { + leg.Write (ref positions, ref rotations); + + thigh.transform.rotation = rotations [2]; + calf.transform.rotation = rotations [3]; + foot.transform.rotation = rotations [4]; + toe.transform.rotation = rotations [5]; + + calf.transform.position = positions[3]; + foot.transform.position = positions[4]; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs.meta new file mode 100644 index 00000000..3fbc53c1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLeg.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 833438e3b67258a4b8aec1195ac1284a +timeCreated: 1487058641 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs new file mode 100644 index 00000000..fa42643e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs @@ -0,0 +1,264 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Extends IKSolverTrigonometric to add automatic bend and rotation modes. + /// + [System.Serializable] + public class IKSolverLimb : IKSolverTrigonometric { + + #region Main Interface + + /// + /// The AvatarIKGoal of this solver. + /// + public AvatarIKGoal goal; + /// + /// Bend normal modifier. + /// + public BendModifier bendModifier; + /// + /// Weight of maintaining the rotation of the third bone as it was before solving. + /// + [Range(0f, 1f)] + public float maintainRotationWeight; + /// + /// Weight of bend normal modifier. + /// + [Range(0f, 1f)] + public float bendModifierWeight = 1f; + /// + /// The bend goal Transform. + /// + public Transform bendGoal; + + /// + /// Used to record rotation of the last bone for one frame. + /// If MaintainRotation is not called and maintainRotationWeight > 0, the solver will maintain the rotation of the last bone as it was before solving the %IK. + /// You will probably need this if you wanted to maintain the animated rotation of a foot despite of any other %IK solver that manipulates its parents' rotation. + /// So you would call %MaintainRotation() in LateUpdate() after animation and before updating the Spine %IK solver that would change the foot's rotation. + /// + public void MaintainRotation() { + if (!initiated) return; + + maintainRotation = bone3.transform.rotation; + maintainRotationFor1Frame = true; + } + + /// + /// If Auto Bend is on "Animation', %MaintainBend() can be used to set the bend axis relative to the first bone's rotation. + /// + public void MaintainBend() { + if (!initiated) return; + + animationNormal = bone1.GetBendNormalFromCurrentRotation(); + + maintainBendFor1Frame = true; + } + + /// + /// Automatic bend modes. + /// + [System.Serializable] + public enum BendModifier { + Animation, // Bending relative to the animated rotation of the first bone + Target, // Bending relative to IKRotation + Parent, // Bending relative to parentBone + Arm, // Arm modifier tries to find the most biometrically natural and relaxed arm bend plane + Goal // Use the bend goal Transform + } + + #endregion Main Interface + + /* + * Override before Initiate + * */ + protected override void OnInitiateVirtual() { + defaultRootRotation = root.rotation; + + if (bone1.transform.parent != null) { + parentDefaultRotation = Quaternion.Inverse(defaultRootRotation) * bone1.transform.parent.rotation; + } + + if (bone3.rotationLimit != null) bone3.rotationLimit.Disable(); + bone3DefaultRotation = bone3.transform.rotation; + + // Set bend plane to current (cant use the public SetBendPlaneToCurrent() method here because the solver has not initiated yet) + Vector3 normal = Vector3.Cross(bone2.transform.position - bone1.transform.position, bone3.transform.position - bone2.transform.position); + if (normal != Vector3.zero) bendNormal = normal; + + animationNormal = bendNormal; + + StoreAxisDirections(ref axisDirectionsLeft); + StoreAxisDirections(ref axisDirectionsRight); + } + + /* + * Changing stuff in Update() before solving + * */ + protected override void OnUpdateVirtual() { + if (IKPositionWeight > 0) { + // Clamping weights + bendModifierWeight = Mathf.Clamp(bendModifierWeight, 0f, 1f); + maintainRotationWeight = Mathf.Clamp(maintainRotationWeight, 0f, 1f); + + // Storing the bendNormal for reverting after solving + _bendNormal = bendNormal; + + // Modifying bendNormal + bendNormal = GetModifiedBendNormal(); + } + + if (maintainRotationWeight * IKPositionWeight > 0) { + // Storing bone3 rotation + bone3RotationBeforeSolve = maintainRotationFor1Frame? maintainRotation : bone3.transform.rotation; + maintainRotationFor1Frame = false; + } + } + + /* + * Changing stuff in Update() after solving + * */ + protected override void OnPostSolveVirtual() { + // Revert bendNormal to what it was before solving + if (IKPositionWeight > 0) bendNormal = _bendNormal; + + // Auto rotation modes + if (maintainRotationWeight * IKPositionWeight > 0) { + bone3.transform.rotation = Quaternion.Slerp(bone3.transform.rotation, bone3RotationBeforeSolve, maintainRotationWeight * IKPositionWeight); + } + } + + /* + * Axis direction contains an arm bend axis for a specific IKPosition direction from the first bone. Used in Arm BendModifier mode. + * */ + [System.Serializable] + public struct AxisDirection { + public Vector3 direction; + public Vector3 axis; + public float dot; + + public AxisDirection(Vector3 direction, Vector3 axis) { + this.direction = direction.normalized; + this.axis = axis.normalized; + this.dot = 0; + } + } + + public IKSolverLimb() {} + + public IKSolverLimb(AvatarIKGoal goal) { + this.goal = goal; + } + + private bool maintainBendFor1Frame, maintainRotationFor1Frame; + private Quaternion defaultRootRotation, parentDefaultRotation, bone3RotationBeforeSolve, maintainRotation, bone3DefaultRotation; + private Vector3 _bendNormal, animationNormal; + private AxisDirection[] axisDirectionsLeft = new AxisDirection[4]; + private AxisDirection[] axisDirectionsRight = new AxisDirection[4]; + private AxisDirection[] axisDirections { + get { + if (goal == AvatarIKGoal.LeftHand) return axisDirectionsLeft; + return axisDirectionsRight; + } + } + + /* + * Storing Bend axes for arm directions. The directions and axes here were found empirically, feel free to edit, add or remove. + * All vectors are in default character rotation space, where x is right and z is forward. + * */ + private void StoreAxisDirections(ref AxisDirection[] axisDirections) { + axisDirections[0] = new AxisDirection(Vector3.zero, new Vector3(-1f, 0f, 0f)); // default + axisDirections[1] = new AxisDirection(new Vector3(0.5f, 0f, -0.2f), new Vector3(-0.5f, -1f, 1f)); // behind head + axisDirections[2] = new AxisDirection(new Vector3(-0.5f, -1f, -0.2f), new Vector3(0f, 0.5f, -1f)); // arm twist + axisDirections[3] = new AxisDirection(new Vector3(-0.5f, -0.5f, 1f), new Vector3(-1f, -1f, -1f)); // cross heart + } + + /* + * Modifying bendNormal + * */ + private Vector3 GetModifiedBendNormal() { + float weight = bendModifierWeight; + if (weight <= 0) return bendNormal; + + switch(bendModifier) { + // Animation Bend Mode attempts to maintain the bend axis as it is in the animation + case BendModifier.Animation: + if (!maintainBendFor1Frame) MaintainBend(); + maintainBendFor1Frame = false; + return Vector3.Lerp(bendNormal, animationNormal, weight); + + // Bending relative to the parent of the first bone + case BendModifier.Parent: + if (bone1.transform.parent == null) return bendNormal; + + Quaternion parentRotation = bone1.transform.parent.rotation * Quaternion.Inverse(parentDefaultRotation); + return Quaternion.Slerp(Quaternion.identity, parentRotation * Quaternion.Inverse(defaultRootRotation), weight) * bendNormal; + + // Bending relative to IKRotation + case BendModifier.Target: + Quaternion targetRotation = IKRotation * Quaternion.Inverse(bone3DefaultRotation); + return Quaternion.Slerp(Quaternion.identity, targetRotation, weight) * bendNormal; + + // Anatomic Arm + case BendModifier.Arm: + if (bone1.transform.parent == null) return bendNormal; + + // Disabling this for legs + if (goal == AvatarIKGoal.LeftFoot || goal == AvatarIKGoal.RightFoot) { + if (!Warning.logged) LogWarning("Trying to use the 'Arm' bend modifier on a leg."); + return bendNormal; + } + + Vector3 direction = (IKPosition - bone1.transform.position).normalized; + + // Converting direction to default world space + direction = Quaternion.Inverse(bone1.transform.parent.rotation * Quaternion.Inverse(parentDefaultRotation)) * direction; + + // Inverting direction for left hand + if (goal == AvatarIKGoal.LeftHand) direction.x = -direction.x; + + // Calculating dot products for all AxisDirections + for (int i = 1; i < axisDirections.Length; i++) { + axisDirections[i].dot = Mathf.Clamp(Vector3.Dot(axisDirections[i].direction, direction), 0f, 1f); + axisDirections[i].dot = Interp.Float(axisDirections[i].dot, InterpolationMode.InOutQuintic); + } + + // Summing up the arm bend axis + Vector3 sum = axisDirections[0].axis; + + //for (int i = 1; i < axisDirections.Length; i++) sum = Vector3.Lerp(sum, axisDirections[i].axis, axisDirections[i].dot); + for (int i = 1; i < axisDirections.Length; i++) sum = Vector3.Slerp(sum, axisDirections[i].axis, axisDirections[i].dot); + + // Inverting sum for left hand + if (goal == AvatarIKGoal.LeftHand) { + sum.x = -sum.x; + sum = -sum; + } + + // Converting sum back to parent space + Vector3 armBendNormal = bone1.transform.parent.rotation * Quaternion.Inverse(parentDefaultRotation) * sum; + + if (weight >= 1) return armBendNormal; + return Vector3.Lerp(bendNormal, armBendNormal, weight); + + // Bending towards the bend goal Transform + case BendModifier.Goal: + if (bendGoal == null) { + if (!Warning.logged) LogWarning("Trying to use the 'Goal' Bend Modifier, but the Bend Goal is unassigned."); + return bendNormal; + } + + Vector3 normal = Vector3.Cross(bendGoal.position - bone1.transform.position, IKPosition - bone1.transform.position); + + if (normal == Vector3.zero) return bendNormal; + + if (weight >= 1f) return normal; + return Vector3.Lerp(bendNormal, normal, weight); + default: return bendNormal; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs.meta new file mode 100644 index 00000000..b317486d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLimb.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 579cdedbac97d4a8fa6c00c94404c86c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs new file mode 100644 index 00000000..663e6bf5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs @@ -0,0 +1,462 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Rotates a hierarchy of bones to face a target. + /// + [System.Serializable] + public class IKSolverLookAt : IKSolver { + + #region Main Interface + + /// + /// The target Transform. + /// + public Transform target; + /// + /// The spine hierarchy. + /// + public LookAtBone[] spine = new LookAtBone[0]; + /// + /// The head bone. + /// + public LookAtBone head = new LookAtBone(); + /// + /// The eye bones. + /// + public LookAtBone[] eyes = new LookAtBone[0]; + /// + /// The body weight. + /// + [Range(0f, 1f)] + public float bodyWeight = 0.5f; + /// + /// The head weight. + /// + [Range(0f, 1f)] + public float headWeight = 0.5f; + /// + /// The eyes weight. + /// + [Range(0f, 1f)] + public float eyesWeight = 1f; + /// + /// Clamp weight for the body. + /// + [Range(0f, 1f)] + public float clampWeight = 0.5f; + /// + /// Clamp weight for the head. + /// + [Range(0f, 1f)] + public float clampWeightHead = 0.5f; + /// + /// Clamp weight for the eyes. + /// + [Range(0f, 1f)] + public float clampWeightEyes = 0.5f; + /// + /// Number of sine smoothing iterations applied on clamping to make the clamping point smoother. + /// + [Range(0, 2)] + public int clampSmoothing = 2; + /// + /// Weight distribution between the spine bones. + /// + public AnimationCurve spineWeightCurve = new AnimationCurve(new Keyframe[2] { new Keyframe(0f, 0.3f), new Keyframe(1f, 1f) }); + + /// + /// Offset for the spine target in world space.. + /// + public Vector3 spineTargetOffset; + + /// + /// Sets the look at weight. NOTE: You are welcome edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + } + + /// + /// Sets the look at weight. NOTE: You are welcome to edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight, float bodyWeight) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + this.bodyWeight = Mathf.Clamp(bodyWeight, 0f, 1f); + } + + /// + /// Sets the look at weight. NOTE: You are welcome to edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight, float bodyWeight, float headWeight) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + this.bodyWeight = Mathf.Clamp(bodyWeight, 0f, 1f); + this.headWeight = Mathf.Clamp(headWeight, 0f, 1f); + } + + /// + /// Sets the look at weight. NOTE: You are welcome to edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight, float bodyWeight, float headWeight, float eyesWeight) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + this.bodyWeight = Mathf.Clamp(bodyWeight, 0f, 1f); + this.headWeight = Mathf.Clamp(headWeight, 0f, 1f); + this.eyesWeight = Mathf.Clamp(eyesWeight, 0f, 1f); + } + + /// + /// Sets the look at weight. NOTE: You are welcome to edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight, float bodyWeight, float headWeight, float eyesWeight, float clampWeight) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + this.bodyWeight = Mathf.Clamp(bodyWeight, 0f, 1f); + this.headWeight = Mathf.Clamp(headWeight, 0f, 1f); + this.eyesWeight = Mathf.Clamp(eyesWeight, 0f, 1f); + this.clampWeight = Mathf.Clamp(clampWeight, 0f, 1f); + this.clampWeightHead = this.clampWeight; + this.clampWeightEyes = this.clampWeight; + } + + /// + /// Sets the look at weight. NOTE: You are welcome to edit the weights directly, this method is here only to match the Unity's built in %IK API. + /// + public void SetLookAtWeight(float weight, float bodyWeight = 0f, float headWeight = 1f, float eyesWeight = 0.5f, float clampWeight = 0.5f, float clampWeightHead = 0.5f, float clampWeightEyes = 0.3f) { + this.IKPositionWeight = Mathf.Clamp(weight, 0f, 1f); + this.bodyWeight = Mathf.Clamp(bodyWeight, 0f, 1f); + this.headWeight = Mathf.Clamp(headWeight, 0f, 1f); + this.eyesWeight = Mathf.Clamp(eyesWeight, 0f, 1f); + this.clampWeight = Mathf.Clamp(clampWeight, 0f, 1f); + this.clampWeightHead = Mathf.Clamp(clampWeightHead, 0f, 1f); + this.clampWeightEyes = Mathf.Clamp(clampWeightEyes, 0f, 1f); + } + + public override void StoreDefaultLocalState() { + for (int i = 0; i < spine.Length; i++) spine[i].StoreDefaultLocalState(); + for (int i = 0; i < eyes.Length; i++) eyes[i].StoreDefaultLocalState(); + if (head != null && head.transform != null) head.StoreDefaultLocalState(); + } + + // Flag for Fix Transforms. + public void SetDirty() + { + isDirty = true; + } + + public override void FixTransforms() { + if (!initiated) return; + if (IKPositionWeight <= 0f && !isDirty) return; + + for (int i = 0; i < spine.Length; i++) spine[i].FixTransform(); + for (int i = 0; i < eyes.Length; i++) eyes[i].FixTransform(); + if (head != null && head.transform != null) head.FixTransform(); + + isDirty = false; + } + + public override bool IsValid (ref string message) { + if (!spineIsValid) { + message = "IKSolverLookAt spine setup is invalid. Can't initiate solver."; + return false; + } + if (!headIsValid) { + message = "IKSolverLookAt head transform is null. Can't initiate solver."; + return false; + } + if (!eyesIsValid) { + message = "IKSolverLookAt eyes setup is invalid. Can't initiate solver."; + return false; + } + + if (spineIsEmpty && headIsEmpty && eyesIsEmpty) { + message = "IKSolverLookAt eyes setup is invalid. Can't initiate solver."; + return false; + } + + Transform spineDuplicate = ContainsDuplicateBone(spine); + if (spineDuplicate != null) { + message = spineDuplicate.name + " is represented multiple times in a single IK chain. Can't initiate solver."; + return false; + } + Transform eyeDuplicate = ContainsDuplicateBone(eyes); + if (eyeDuplicate != null) { + message = eyeDuplicate.name + " is represented multiple times in a single IK chain. Can't initiate solver."; + return false; + } + return true; + } + + public override IKSolver.Point[] GetPoints() { + IKSolver.Point[] allPoints = new IKSolver.Point[spine.Length + eyes.Length + (head.transform != null? 1: 0)]; + for (int i = 0; i < spine.Length; i++) allPoints[i] = spine[i] as IKSolver.Point; + + int eye = 0; + for (int i = spine.Length; i < spine.Length + eyes.Length; i++) + { + allPoints[i] = eyes[eye] as IKSolver.Point; + eye++; + } + + if (head.transform != null) allPoints[allPoints.Length - 1] = head as IKSolver.Point; + return allPoints; + } + + public override IKSolver.Point GetPoint(Transform transform) { + foreach (IKSolverLookAt.LookAtBone b in spine) if (b.transform == transform) return b as IKSolver.Point; + foreach (IKSolverLookAt.LookAtBone b in eyes) if (b.transform == transform) return b as IKSolver.Point; + if (head.transform == transform) return head as IKSolver.Point; + return null; + } + + /// + /// Look At bone class. + /// + [System.Serializable] + public class LookAtBone: IKSolver.Bone { + + #region Public methods + + public Vector3 baseForwardOffsetEuler; + + public LookAtBone() {} + + /* + * Custom constructor + * */ + public LookAtBone(Transform transform) { + this.transform = transform; + } + + /* + * Initiates the bone, precalculates values. + * */ + public void Initiate(Transform root) { + if (transform == null) return; + + axis = Quaternion.Inverse(transform.rotation) * root.forward; + } + + /* + * Rotates the bone to look at a world direction. + * */ + public void LookAt(Vector3 direction, float weight) { + Quaternion fromTo = Quaternion.FromToRotation(forward, direction); + Quaternion r = transform.rotation; + transform.rotation = Quaternion.Lerp(r, fromTo * r, weight); + } + + /* + * Gets the local axis to goal in world space. + * */ + public Vector3 forward { + get { + return transform.rotation * axis; + } + } + + #endregion Public methods + } + + /// + /// Reinitiate the solver with new bone Transforms. + /// + /// + /// Returns true if the new chain is valid. + /// + public bool SetChain(Transform[] spine, Transform head, Transform[] eyes, Transform root) { + // Spine + SetBones(spine, ref this.spine); + + // Head + this.head = new LookAtBone(head); + + // Eyes + SetBones(eyes, ref this.eyes); + + Initiate(root); + return initiated; + } + + #endregion Main Interface + + protected Vector3[] spineForwards = new Vector3[0]; + protected Vector3[] headForwards = new Vector3[1]; + protected Vector3[] eyeForward = new Vector3[1]; + private bool isDirty; + + protected override void OnInitiate() { + // Set IKPosition to default value + if (firstInitiation || !Application.isPlaying) { + if (spine.Length > 0) IKPosition = spine[spine.Length - 1].transform.position + root.forward * 3f; + else if (head.transform != null) IKPosition = head.transform.position + root.forward * 3f; + else if (eyes.Length > 0 && eyes[0].transform != null) IKPosition = eyes[0].transform.position + root.forward * 3f; + } + + // Initiating the bones + foreach (LookAtBone s in spine) s.Initiate(root); + if (head != null) head.Initiate(root); + foreach (LookAtBone eye in eyes) eye.Initiate(root); + + if (spineForwards == null || spineForwards.Length != spine.Length) spineForwards = new Vector3[spine.Length]; + if (headForwards == null) headForwards = new Vector3[1]; + if (eyeForward == null) eyeForward = new Vector3[1]; + } + + protected override void OnUpdate() { + if (IKPositionWeight <= 0) return; + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + + if (target != null) IKPosition = target.position; + + // Solving the hierarchies + SolveSpine(); + SolveHead(); + SolveEyes(); + } + + protected bool spineIsValid { + get { + if (spine == null) return false; + if (spine.Length == 0) return true; + + for (int i = 0; i < spine.Length; i++) if (spine[i] == null || spine[i].transform == null) return false; + return true; + } + } + + protected bool spineIsEmpty { get { return spine.Length == 0; }} + + // Solving the spine hierarchy + protected void SolveSpine() { + if (bodyWeight <= 0) return; + if (spineIsEmpty) return; + + // Get the look at vectors for each bone + //Vector3 targetForward = Vector3.Lerp(spine[0].forward, (IKPosition - spine[spine.Length - 1].transform.position).normalized, bodyWeight * IKPositionWeight).normalized; + Vector3 targetForward = (IKPosition + spineTargetOffset - spine[spine.Length - 1].transform.position).normalized; + + GetForwards(ref spineForwards, spine[0].forward, targetForward, spine.Length, clampWeight); + + // Rotate each bone to face their look at vectors + for (int i = 0; i < spine.Length; i++) { + spine[i].LookAt(spineForwards[i], bodyWeight * IKPositionWeight); + } + } + + protected bool headIsValid { + get { + if (head == null) return false; + return true; + } + } + + protected bool headIsEmpty { get { return head.transform == null; }} + + // Solving the head rotation + protected void SolveHead() { + if (headWeight <= 0) return; + if (headIsEmpty) return; + + // Get the look at vector for the head + Vector3 baseForward = spine.Length > 0 && spine[spine.Length - 1].transform != null? spine[spine.Length - 1].forward: head.forward; + + Vector3 targetForward = Vector3.Lerp(baseForward, (IKPosition - head.transform.position).normalized, headWeight * IKPositionWeight).normalized; + GetForwards(ref headForwards, baseForward, targetForward, 1, clampWeightHead); + + // Rotate the head to face its look at vector + head.LookAt(headForwards[0], headWeight * IKPositionWeight); + } + + protected bool eyesIsValid { + get { + if (eyes == null) return false; + if (eyes.Length == 0) return true; + + for (int i = 0; i < eyes.Length; i++) if (eyes[i] == null || eyes[i].transform == null) return false; + return true; + } + } + + protected bool eyesIsEmpty { get { return eyes.Length == 0; }} + + // Solving the eye rotations + protected void SolveEyes() { + if (eyesWeight <= 0) return; + if (eyesIsEmpty) return; + + for (int i = 0; i < eyes.Length; i++) { + // Get the look at vector for the eye + Quaternion baseRotation = head.transform != null ? head.transform.rotation : spine.Length > 0? spine[spine.Length - 1].transform.rotation: root.rotation; + Vector3 baseAxis = head.transform != null ? head.axis : spine.Length > 0 ? spine[spine.Length - 1].axis : root.forward; + + if (eyes[i].baseForwardOffsetEuler != Vector3.zero) baseRotation *= Quaternion.Euler(eyes[i].baseForwardOffsetEuler); + + Vector3 baseForward = baseRotation * baseAxis; + + GetForwards(ref eyeForward, baseForward, (IKPosition - eyes[i].transform.position).normalized, 1, clampWeightEyes); + + // Rotate the eye to face its look at vector + eyes[i].LookAt(eyeForward[0], eyesWeight * IKPositionWeight); + } + } + + /* + * Returns forwards for a number of bones rotating from baseForward to targetForward. + * NB! Make sure baseForward and targetForward are normalized. + * */ + protected Vector3[] GetForwards(ref Vector3[] forwards, Vector3 baseForward, Vector3 targetForward, int bones, float clamp) { + // If clamp >= 1 make all the forwards match the base + if (clamp >= 1 || IKPositionWeight <= 0) { + for (int i = 0; i < forwards.Length; i++) forwards[i] = baseForward; + return forwards; + } + + // Get normalized dot product. + float angle = Vector3.Angle(baseForward, targetForward); + float dot = 1f - (angle / 180f); + + // Clamping the targetForward so it doesn't exceed clamp + float targetClampMlp = clamp > 0? Mathf.Clamp(1f - ((clamp - dot) / (1f - dot)), 0f, 1f): 1f; + + // Calculating the clamp multiplier + float clampMlp = clamp > 0? Mathf.Clamp(dot / clamp, 0f, 1f): 1f; + + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + // Rotation amount for 1 bone + if (forwards.Length == 1) { + forwards[0] = Vector3.Slerp(baseForward, targetForward, clampMlp * targetClampMlp); + } else { + float step = 1f / (float)(forwards.Length - 1); + + // Calculate the forward for each bone + for (int i = 0; i < forwards.Length; i++) { + forwards[i] = Vector3.Slerp(baseForward, targetForward, spineWeightCurve.Evaluate(step * i) * clampMlp * targetClampMlp); + } + } + + return forwards; + } + + /* + * Build LookAtBone[] array of a Transform array + * */ + protected void SetBones(Transform[] array, ref LookAtBone[] bones) { + if (array == null) { + bones = new LookAtBone[0]; + return; + } + + if (bones.Length != array.Length) bones = new LookAtBone[array.Length]; + + for (int i = 0; i < array.Length; i++) { + if (bones[i] == null) bones[i] = new LookAtBone(array[i]); + else bones[i].transform = array[i]; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs.meta new file mode 100644 index 00000000..e77ea6b4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverLookAt.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 94d39c9f4eb4440c3b87777aec05466f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs new file mode 100644 index 00000000..20303780 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs @@ -0,0 +1,363 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Analytic %IK solver based on the Law of Cosines. + /// + [System.Serializable] + public class IKSolverTrigonometric: IKSolver { + + #region Main Interface + + /// + /// The target Transform. + /// + public Transform target; + /// + /// The %IK rotation weight (rotation of the last bone). + /// + [Range(0f, 1f)] + public float IKRotationWeight = 1f; + /// + /// The %IK rotation target. + /// + public Quaternion IKRotation = Quaternion.identity; + /// + /// The bend plane normal. + /// + public Vector3 bendNormal = Vector3.right; + /// + /// The first bone (upper arm or thigh). + /// + public TrigonometricBone bone1 = new TrigonometricBone(); + /// + /// The second bone (forearm or calf). + /// + public TrigonometricBone bone2 = new TrigonometricBone(); + /// + /// The third bone (hand or foot). + /// + public TrigonometricBone bone3 = new TrigonometricBone(); + + /// + /// Sets the bend goal position. + /// + /// + /// Goal position. + /// + public void SetBendGoalPosition(Vector3 goalPosition, float weight) { + if (!initiated) return; + if (weight <= 0f) return; + + Vector3 normal = Vector3.Cross(goalPosition - bone1.transform.position, IKPosition - bone1.transform.position); + if (normal != Vector3.zero) { + if (weight >= 1f) { + bendNormal = normal; + return; + } + + bendNormal = Vector3.Lerp(bendNormal, normal, weight); + } + } + + /// + /// Sets the bend plane to match current bone rotations. + /// + public void SetBendPlaneToCurrent() { + if (!initiated) return; + + Vector3 normal = Vector3.Cross(bone2.transform.position - bone1.transform.position, bone3.transform.position - bone2.transform.position); + if (normal != Vector3.zero) bendNormal = normal; + } + + /// + /// Sets the %IK rotation. + /// + public void SetIKRotation(Quaternion rotation) { + IKRotation = rotation; + } + + /// + /// Sets the %IK rotation weight. + /// + public void SetIKRotationWeight(float weight) { + IKRotationWeight = Mathf.Clamp(weight, 0f, 1f); + } + + /// + /// Gets the %IK rotation. + /// + public Quaternion GetIKRotation() { + return IKRotation; + } + + /// + /// Gets the %IK rotation weight. + /// + public float GetIKRotationWeight() { + return IKRotationWeight; + } + + public override IKSolver.Point[] GetPoints() { + return new IKSolver.Point[3] { (IKSolver.Point)bone1, (IKSolver.Point)bone2, (IKSolver.Point)bone3 }; + } + + public override IKSolver.Point GetPoint(Transform transform) { + if (bone1.transform == transform) return (IKSolver.Point)bone1; + if (bone2.transform == transform) return (IKSolver.Point)bone2; + if (bone3.transform == transform) return (IKSolver.Point)bone3; + return null; + } + + public override void StoreDefaultLocalState() { + bone1.StoreDefaultLocalState(); + bone2.StoreDefaultLocalState(); + bone3.StoreDefaultLocalState(); + } + + public override void FixTransforms() { + if (!initiated) return; + + bone1.FixTransform(); + bone2.FixTransform(); + bone3.FixTransform(); + } + + public override bool IsValid(ref string message) { + if (bone1.transform == null || bone2.transform == null || bone3.transform == null) { + message = "Please assign all Bones to the IK solver."; + return false; + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[3] { bone1.transform, bone2.transform, bone3.transform }); + if (duplicate != null) { + message = duplicate.name + " is represented multiple times in the Bones."; + return false; + } + + if (bone1.transform.position == bone2.transform.position) { + message = "first bone position is the same as second bone position."; + return false; + } + if (bone2.transform.position == bone3.transform.position) { + message = "second bone position is the same as third bone position."; + return false; + } + + return true; + } + + /// + /// Bone type used by IKSolverTrigonometric. + /// + [System.Serializable] + public class TrigonometricBone: IKSolver.Bone { + + private Quaternion targetToLocalSpace; + private Vector3 defaultLocalBendNormal; + + #region Public methods + + /* + * Initiates the bone, precalculates values. + * */ + public void Initiate(Vector3 childPosition, Vector3 bendNormal) { + // Get default target rotation that looks at child position with bendNormal as up + Quaternion defaultTargetRotation = Quaternion.LookRotation(childPosition - transform.position, bendNormal); + + // Covert default target rotation to local space + targetToLocalSpace = QuaTools.RotationToLocalSpace(transform.rotation, defaultTargetRotation); + + defaultLocalBendNormal = Quaternion.Inverse(transform.rotation) * bendNormal; + } + + /* + * Calculates the rotation of this bone to targetPosition. + * */ + public Quaternion GetRotation(Vector3 direction, Vector3 bendNormal) { + return Quaternion.LookRotation(direction, bendNormal) * targetToLocalSpace; + } + + /* + * Gets the bend normal from current bone rotation. + * */ + public Vector3 GetBendNormalFromCurrentRotation() { + return transform.rotation * defaultLocalBendNormal; + } + + #endregion Public methods + } + + /// + /// Reinitiate the solver with new bone Transforms. + /// + /// + /// Returns true if the new chain is valid. + /// + public bool SetChain(Transform bone1, Transform bone2, Transform bone3, Transform root) { + this.bone1.transform = bone1; + this.bone2.transform = bone2; + this.bone3.transform = bone3; + + Initiate(root); + return initiated; + } + + #endregion Main Interface + + #region Class Methods + + /// + /// Solve the bone chain. + /// + public static void Solve(Transform bone1, Transform bone2, Transform bone3, Vector3 targetPosition, Vector3 bendNormal, float weight) { + if (weight <= 0f) return; + + // Direction of the limb in solver + targetPosition = Vector3.Lerp(bone3.position, targetPosition, weight); + + Vector3 dir = targetPosition - bone1.position; + + // Distance between the first and the last node solver positions + float length = dir.magnitude; + if (length == 0f) return; + + float sqrMag1 = (bone2.position - bone1.position).sqrMagnitude; + float sqrMag2 = (bone3.position - bone2.position).sqrMagnitude; + + // Get the general world space bending direction + Vector3 bendDir = Vector3.Cross(dir, bendNormal); + + // Get the direction to the trigonometrically solved position of the second node + Vector3 toBendPoint = GetDirectionToBendPoint(dir, length, bendDir, sqrMag1, sqrMag2); + + // Position the second node + Quaternion q1 = Quaternion.FromToRotation(bone2.position - bone1.position, toBendPoint); + if (weight < 1f) q1 = Quaternion.Lerp(Quaternion.identity, q1, weight); + + bone1.rotation = q1 * bone1.rotation; + + Quaternion q2 = Quaternion.FromToRotation(bone3.position - bone2.position, targetPosition - bone2.position); + if (weight < 1f) q2 = Quaternion.Lerp(Quaternion.identity, q2, weight); + + bone2.rotation = q2 * bone2.rotation; + } + + //Calculates the bend direction based on the law of cosines. NB! Magnitude of the returned vector does not equal to the length of the first bone! + private static Vector3 GetDirectionToBendPoint(Vector3 direction, float directionMag, Vector3 bendDirection, float sqrMag1, float sqrMag2) { + float x = ((directionMag * directionMag) + (sqrMag1 - sqrMag2)) / 2f / directionMag; + float y = (float)Math.Sqrt(Mathf.Clamp(sqrMag1 - x * x, 0, Mathf.Infinity)); + + if (direction == Vector3.zero) return Vector3.zero; + return Quaternion.LookRotation(direction, bendDirection) * new Vector3(0f, y, x); + } + + #endregion Class Methods + + protected override void OnInitiate() { + if (bendNormal == Vector3.zero) bendNormal = Vector3.right; + + OnInitiateVirtual(); + + IKPosition = bone3.transform.position; + IKRotation = bone3.transform.rotation; + + // Initiating bones + InitiateBones(); + + directHierarchy = IsDirectHierarchy(); + } + + // Are the bones parented directly to each other? + private bool IsDirectHierarchy() { + if (bone3.transform.parent != bone2.transform) return false; + if (bone2.transform.parent != bone1.transform) return false; + return true; + } + + // Set the defaults for the bones + public void InitiateBones() { + bone1.Initiate(bone2.transform.position, bendNormal); + bone2.Initiate(bone3.transform.position, bendNormal); + + SetBendPlaneToCurrent(); + } + + protected override void OnUpdate() { + IKPositionWeight = Mathf.Clamp(IKPositionWeight, 0f, 1f); + IKRotationWeight = Mathf.Clamp(IKRotationWeight, 0f, 1f); + + if (target != null) { + IKPosition = target.position; + IKRotation = target.rotation; + } + + OnUpdateVirtual(); + + if (IKPositionWeight > 0) { + + // Reinitiating the bones when the hierarchy is not direct. This allows for skipping animated bones in the hierarchy. + if (!directHierarchy) { + bone1.Initiate(bone2.transform.position, bendNormal); + bone2.Initiate(bone3.transform.position, bendNormal); + } + + // Find out if bone lengths should be updated + bone1.sqrMag = (bone2.transform.position - bone1.transform.position).sqrMagnitude; + bone2.sqrMag = (bone3.transform.position - bone2.transform.position).sqrMagnitude; + + if (bendNormal == Vector3.zero && !Warning.logged) LogWarning("IKSolverTrigonometric Bend Normal is Vector3.zero."); + + weightIKPosition = Vector3.Lerp(bone3.transform.position, IKPosition, IKPositionWeight); + + // Interpolating bend normal + Vector3 currentBendNormal = Vector3.Lerp(bone1.GetBendNormalFromCurrentRotation(), bendNormal, IKPositionWeight); + + // Calculating and interpolating bend direction + Vector3 bendDirection = Vector3.Lerp(bone2.transform.position - bone1.transform.position, GetBendDirection(weightIKPosition, currentBendNormal), IKPositionWeight); + + if (bendDirection == Vector3.zero) bendDirection = bone2.transform.position - bone1.transform.position; + + // Rotating bone1 + bone1.transform.rotation = bone1.GetRotation(bendDirection, currentBendNormal); + + // Rotating bone 2 + bone2.transform.rotation = bone2.GetRotation(weightIKPosition - bone2.transform.position, bone2.GetBendNormalFromCurrentRotation()); + } + + // Rotating bone3 + if (IKRotationWeight > 0) { + bone3.transform.rotation = Quaternion.Slerp(bone3.transform.rotation, IKRotation, IKRotationWeight); + } + + OnPostSolveVirtual(); + } + + protected Vector3 weightIKPosition; + protected virtual void OnInitiateVirtual() {} + protected virtual void OnUpdateVirtual() {} + protected virtual void OnPostSolveVirtual() {} + protected bool directHierarchy = true; + + /* + * Calculates the bend direction based on the Law of Cosines. + * */ + protected Vector3 GetBendDirection(Vector3 IKPosition, Vector3 bendNormal) { + Vector3 direction = IKPosition - bone1.transform.position; + if (direction == Vector3.zero) return Vector3.zero; + + float directionSqrMag = direction.sqrMagnitude; + float directionMagnitude = (float)Math.Sqrt(directionSqrMag); + + float x = (directionSqrMag + bone1.sqrMag - bone2.sqrMag) / 2f / directionMagnitude; + float y = (float)Math.Sqrt(Mathf.Clamp(bone1.sqrMag - x * x, 0, Mathf.Infinity)); + + Vector3 yDirection = Vector3.Cross(direction / directionMagnitude, bendNormal); + return Quaternion.LookRotation(direction, yDirection) * new Vector3(0f, y, x); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs.meta new file mode 100644 index 00000000..ea1c1e49 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverTrigonometric.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 23a7ead232727430e926213345415822 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs new file mode 100644 index 00000000..f7282072 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs @@ -0,0 +1,732 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + [System.Serializable] + public partial class IKSolverVR: IKSolver { + + #region Wrapper + + public Animator animator { get; private set; } + + /// + /// Sets this VRIK up to the specified bone references. + /// + public void SetToReferences(VRIK.References references) { + if (!references.isFilled) { + Debug.LogError("Invalid references, one or more Transforms are missing."); + return; + } + + animator = references.root.GetComponent(); + + solverTransforms = references.GetTransforms(); + + hasChest = solverTransforms [3] != null; + hasNeck = solverTransforms[4] != null; + hasShoulders = solverTransforms[6] != null && solverTransforms[10] != null; + hasToes = solverTransforms[17] != null && solverTransforms[21] != null; + hasLegs = solverTransforms[14] != null; + hasArms = solverTransforms[7] != null; + + readPositions = new Vector3[solverTransforms.Length]; + readRotations = new Quaternion[solverTransforms.Length]; + + DefaultAnimationCurves(); + GuessHandOrientations(references, true); + } + + /// + /// Guesses the hand bones orientations ('Wrist To Palm Axis' and "Palm To Thumb Axis" of the arms) based on the provided references. if onlyIfZero is true, will only guess an orientation axis if it is Vector3.zero. + /// + public void GuessHandOrientations(VRIK.References references, bool onlyIfZero) { + if (!references.isFilled) { + Debug.LogError("VRIK References are not filled in, can not guess hand orientations. Right-click on VRIK header and slect 'Guess Hand Orientations' when you have filled in the References.", references.root); + return; + } + + if (leftArm.wristToPalmAxis == Vector3.zero || !onlyIfZero) { + leftArm.wristToPalmAxis = VRIKCalibrator.GuessWristToPalmAxis(references.leftHand, references.leftForearm); + } + + if (leftArm.palmToThumbAxis == Vector3.zero || !onlyIfZero) { + leftArm.palmToThumbAxis = VRIKCalibrator.GuessPalmToThumbAxis(references.leftHand, references.leftForearm); + } + + if (rightArm.wristToPalmAxis == Vector3.zero || !onlyIfZero) { + rightArm.wristToPalmAxis = VRIKCalibrator.GuessWristToPalmAxis(references.rightHand, references.rightForearm); + } + + if (rightArm.palmToThumbAxis == Vector3.zero || !onlyIfZero) { + rightArm.palmToThumbAxis = VRIKCalibrator.GuessPalmToThumbAxis(references.rightHand, references.rightForearm); + } + } + + /// + /// Set default values for the animation curves if they have no keys. + /// + public void DefaultAnimationCurves() { + if (locomotion.stepHeight == null) locomotion.stepHeight = new AnimationCurve(); + if (locomotion.heelHeight == null) locomotion.heelHeight = new AnimationCurve (); + + if (locomotion.stepHeight.keys.Length == 0) { + locomotion.stepHeight.keys = GetSineKeyframes(0.03f); + } + + if (locomotion.heelHeight.keys.Length == 0) { + locomotion.heelHeight.keys = GetSineKeyframes(0.03f); + } + } + + /// + /// Adds position offset to a body part. Position offsets add to the targets in VRIK. + /// + public void AddPositionOffset(PositionOffset positionOffset, Vector3 value) { + switch(positionOffset) { + case PositionOffset.Pelvis: spine.pelvisPositionOffset += value; return; + case PositionOffset.Chest: spine.chestPositionOffset += value; return; + case PositionOffset.Head: spine.headPositionOffset += value; return; + case PositionOffset.LeftHand: leftArm.handPositionOffset += value; return; + case PositionOffset.RightHand: rightArm.handPositionOffset += value; return; + case PositionOffset.LeftFoot: leftLeg.footPositionOffset += value; return; + case PositionOffset.RightFoot: rightLeg.footPositionOffset += value; return; + case PositionOffset.LeftHeel: leftLeg.heelPositionOffset += value; return; + case PositionOffset.RightHeel: rightLeg.heelPositionOffset += value; return; + } + } + + /// + /// Adds rotation offset to a body part. Rotation offsets add to the targets in VRIK + /// + public void AddRotationOffset(RotationOffset rotationOffset, Vector3 value) { + AddRotationOffset(rotationOffset, Quaternion.Euler(value)); + } + + /// + /// Adds rotation offset to a body part. Rotation offsets add to the targets in VRIK + /// + public void AddRotationOffset(RotationOffset rotationOffset, Quaternion value) { + switch(rotationOffset) { + case RotationOffset.Pelvis: spine.pelvisRotationOffset = value * spine.pelvisRotationOffset; return; + case RotationOffset.Chest: spine.chestRotationOffset = value * spine.chestRotationOffset; return; + case RotationOffset.Head: spine.headRotationOffset = value * spine.headRotationOffset; return; + } + } + + /// + /// Call this in each Update if your avatar is standing on a moving platform + /// + public void AddPlatformMotion(Vector3 deltaPosition, Quaternion deltaRotation, Vector3 platformPivot) { + locomotion.AddDeltaPosition (deltaPosition); + raycastOriginPelvis += deltaPosition; + + locomotion.AddDeltaRotation (deltaRotation, platformPivot); + spine.faceDirection = deltaRotation * spine.faceDirection; + } + + /// + /// Resets all tweens, blendings and lerps. Call this after you have teleported the character. + /// + public void Reset() { + if (!initiated) return; + + UpdateSolverTransforms(); + Read(readPositions, readRotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasArms); + + spine.faceDirection = rootBone.readRotation * Vector3.forward; + + if (hasLegs) + { + locomotion.Reset(readPositions, readRotations); + raycastOriginPelvis = spine.pelvis.readPosition; + } + } + + public override void StoreDefaultLocalState() { + for (int i = 1; i < solverTransforms.Length; i++) { + if (solverTransforms[i] != null) { + defaultLocalPositions[i - 1] = solverTransforms[i].localPosition; + defaultLocalRotations[i - 1] = solverTransforms[i].localRotation; + } + } + } + + public override void FixTransforms() { + if (!initiated) return; + if (LOD >= 2) return; + + for (int i = 1; i < solverTransforms.Length; i++) { + if (solverTransforms[i] != null) { + bool isPelvis = i == 1; + + bool isArmStretchable = i == 8 || i == 9 || i == 12 || i == 13; + bool isLegStretchable = (i >= 15 && i <= 17) || (i >= 19 && i <= 21); + + if (isPelvis || isArmStretchable || isLegStretchable) { + solverTransforms[i].localPosition = defaultLocalPositions[i - 1]; + } + solverTransforms[i].localRotation = defaultLocalRotations[i - 1]; + } + } + } + + public override IKSolver.Point[] GetPoints() { + Debug.LogError("GetPoints() is not applicable to IKSolverVR."); + return null; + } + + public override IKSolver.Point GetPoint(Transform transform) { + Debug.LogError("GetPoint is not applicable to IKSolverVR."); + return null; + } + + public override bool IsValid(ref string message) { + if (solverTransforms == null || solverTransforms.Length == 0) { + message = "Trying to initiate IKSolverVR with invalid bone references."; + return false; + } + + if (leftArm.wristToPalmAxis == Vector3.zero) { + message = "Left arm 'Wrist To Palm Axis' needs to be set in VRIK. Please select the hand bone, set it to the axis that points from the wrist towards the palm. If the arrow points away from the palm, axis must be negative."; + return false; + } + + if (rightArm.wristToPalmAxis == Vector3.zero) { + message = "Right arm 'Wrist To Palm Axis' needs to be set in VRIK. Please select the hand bone, set it to the axis that points from the wrist towards the palm. If the arrow points away from the palm, axis must be negative."; + return false; + } + + if (leftArm.palmToThumbAxis == Vector3.zero) { + message = "Left arm 'Palm To Thumb Axis' needs to be set in VRIK. Please select the hand bone, set it to the axis that points from the palm towards the thumb. If the arrow points away from the thumb, axis must be negative."; + return false; + } + + if (rightArm.palmToThumbAxis == Vector3.zero) { + message = "Right arm 'Palm To Thumb Axis' needs to be set in VRIK. Please select the hand bone, set it to the axis that points from the palm towards the thumb. If the arrow points away from the thumb, axis must be negative."; + return false; + } + + return true; + } + + private Transform[] solverTransforms = new Transform[0]; + private bool hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasArms; + private Vector3[] readPositions = new Vector3[0]; + private Quaternion[] readRotations = new Quaternion[0]; + private Vector3[] solvedPositions = new Vector3[22]; + private Quaternion[] solvedRotations = new Quaternion[22]; + //private Vector3 defaultPelvisLocalPosition; + private Quaternion[] defaultLocalRotations = new Quaternion[21]; + private Vector3[] defaultLocalPositions = new Vector3[21]; + + private Vector3 GetNormal(Transform[] transforms) { + Vector3 normal = Vector3.zero; + + Vector3 centroid = Vector3.zero; + for (int i = 0; i < transforms.Length; i++) { + centroid += transforms[i].position; + } + centroid /= transforms.Length; + + for (int i = 0; i < transforms.Length - 1; i++) { + normal += Vector3.Cross(transforms[i].position - centroid, transforms[i + 1].position - centroid).normalized; + } + + return normal; + } + + private static Keyframe[] GetSineKeyframes(float mag) { + Keyframe[] keys = new Keyframe[3]; + keys[0].time = 0f; + keys[0].value = 0f; + keys[1].time = 0.5f; + keys[1].value = mag; + keys[2].time = 1f; + keys[2].value = 0f; + return keys; + } + + private void UpdateSolverTransforms() { + for (int i = 0; i < solverTransforms.Length; i++) { + if (solverTransforms[i] != null) { + readPositions[i] = solverTransforms[i].position; + readRotations[i] = solverTransforms[i].rotation; + } + } + } + + protected override void OnInitiate() { + UpdateSolverTransforms(); + Read(readPositions, readRotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasArms); + } + + protected override void OnUpdate() { + if (IKPositionWeight > 0f) { + if (LOD < 2) + { + bool read = false; + + if (lastLOD != LOD) + { + if (lastLOD == 2) + { + spine.faceDirection = rootBone.readRotation * Vector3.forward; + + if (hasLegs) + { + // Teleport to the current position/rotation if resuming from culled LOD with locomotion enabled + if (locomotion.weight > 0f) + { + root.position = new Vector3(spine.headTarget.position.x, root.position.y, spine.headTarget.position.z); + Vector3 forward = spine.faceDirection; + forward.y = 0f; + root.rotation = Quaternion.LookRotation(forward, root.up); + + UpdateSolverTransforms(); + Read(readPositions, readRotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasArms); + read = true; + + locomotion.Reset(readPositions, readRotations); + } + + raycastOriginPelvis = spine.pelvis.readPosition; + } + } + } + + if (!read) + { + UpdateSolverTransforms(); + Read(readPositions, readRotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasArms); + } + + Solve(); + Write(); + + WriteTransforms(); + } + else + { + // Culled + if (locomotion.weight > 0f) + { + root.position = new Vector3(spine.headTarget.position.x, root.position.y, spine.headTarget.position.z); + Vector3 forward = spine.headTarget.rotation * spine.anchorRelativeToHead * Vector3.forward; + forward.y = 0f; + root.rotation = Quaternion.LookRotation(forward, root.up); + } + } + } + + lastLOD = LOD; + } + + private void WriteTransforms() { + for (int i = 0; i < solverTransforms.Length; i++) { + if (solverTransforms[i] != null) { + bool isRootOrPelvis = i < 2; + bool isArmStretchable = i == 8 || i == 9 || i == 12 || i == 13; + bool isLegStretchable = (i >= 15 && i <= 17) || (i >= 19 && i <= 21); + + if (LOD > 0) + { + isArmStretchable = false; + isLegStretchable = false; + } + + if (isRootOrPelvis) { + solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight); + } + + if (isArmStretchable || isLegStretchable) { + if (IKPositionWeight < 1f) { + Vector3 localPosition = solverTransforms[i].localPosition; + solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight); + solverTransforms[i].localPosition = Vector3.Project(solverTransforms[i].localPosition, localPosition); + } else + { + solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight); + } + } + + solverTransforms[i].rotation = QuaTools.Lerp(solverTransforms[i].rotation, GetRotation(i), IKPositionWeight); + } + } + } + + #endregion Wrapper + + #region Generic API + + private Vector3 rootV; + private Vector3 rootVelocity; + private Vector3 bodyOffset; + private int supportLegIndex; + private int lastLOD; + + private void Read(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, bool hasArms) { + if (rootBone == null) { + rootBone = new VirtualBone (positions [0], rotations [0]); + } else { + rootBone.Read (positions [0], rotations [0]); + } + + spine.Read(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, 0, 1); + + if (hasArms) + { + leftArm.Read(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasChest ? 3 : 2, 6); + rightArm.Read(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, hasChest ? 3 : 2, 10); + } + + if (hasLegs) { + leftLeg.Read(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, 1, 14); + rightLeg.Read(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, 1, 18); + } + + for (int i = 0; i < rotations.Length; i++) { + this.solvedPositions[i] = positions[i]; + this.solvedRotations[i] = rotations[i]; + } + + if (!initiated) { + if (hasLegs) legs = new Leg[2] { leftLeg, rightLeg }; + if (hasArms) arms = new Arm[2] { leftArm, rightArm }; + + if (hasLegs) locomotion.Initiate(animator, positions, rotations, hasToes, scale); + raycastOriginPelvis = spine.pelvis.readPosition; + spine.faceDirection = readRotations[0] * Vector3.forward; + } + } + + private void Solve() { + if (scale <= 0f) + { + Debug.LogError("VRIK solver scale <= 0, can not solve!"); + return; + } + + if (hasLegs && lastLocomotionWeight <= 0f && locomotion.weight > 0f) locomotion.Reset(readPositions, readRotations); + + spine.SetLOD(LOD); + if (hasArms) foreach (Arm arm in arms) arm.SetLOD(LOD); + if (hasLegs) foreach (Leg leg in legs) leg.SetLOD(LOD); + + // Pre-Solving + spine.PreSolve(scale); + if (hasArms) foreach (Arm arm in arms) arm.PreSolve(scale); + if (hasLegs) foreach (Leg leg in legs) leg.PreSolve(scale); + + // Applying spine and arm offsets + if (hasArms) foreach (Arm arm in arms) arm.ApplyOffsets(scale); + spine.ApplyOffsets(scale); + + // Spine + spine.Solve(animator, rootBone, legs, arms, scale); + + if (hasLegs && spine.pelvisPositionWeight > 0f && plantFeet) { + Warning.Log("If VRIK 'Pelvis Position Weight' is > 0, 'Plant Feet' should be disabled to improve performance and stability.", root); + } + + float deltaTime = Time.deltaTime; + + // Locomotion + if (hasLegs) { + if (locomotion.weight > 0f) + { + switch (locomotion.mode) + { + case Locomotion.Mode.Procedural: + Vector3 leftFootPosition = Vector3.zero; + Vector3 rightFootPosition = Vector3.zero; + Quaternion leftFootRotation = Quaternion.identity; + Quaternion rightFootRotation = Quaternion.identity; + float leftFootOffset = 0f; + float rightFootOffset = 0f; + float leftHeelOffset = 0f; + float rightHeelOffset = 0f; + + locomotion.Solve_Procedural(rootBone, spine, leftLeg, rightLeg, leftArm, rightArm, supportLegIndex, out leftFootPosition, out rightFootPosition, out leftFootRotation, out rightFootRotation, out leftFootOffset, out rightFootOffset, out leftHeelOffset, out rightHeelOffset, scale, deltaTime); + + leftFootPosition += root.up * leftFootOffset; + rightFootPosition += root.up * rightFootOffset; + + leftLeg.footPositionOffset += (leftFootPosition - leftLeg.lastBone.solverPosition) * IKPositionWeight * (1f - leftLeg.positionWeight) * locomotion.weight; + rightLeg.footPositionOffset += (rightFootPosition - rightLeg.lastBone.solverPosition) * IKPositionWeight * (1f - rightLeg.positionWeight) * locomotion.weight; + + leftLeg.heelPositionOffset += root.up * leftHeelOffset * locomotion.weight; + rightLeg.heelPositionOffset += root.up * rightHeelOffset * locomotion.weight; + + Quaternion rotationOffsetLeft = QuaTools.FromToRotation(leftLeg.lastBone.solverRotation, leftFootRotation); + Quaternion rotationOffsetRight = QuaTools.FromToRotation(rightLeg.lastBone.solverRotation, rightFootRotation); + + rotationOffsetLeft = Quaternion.Lerp(Quaternion.identity, rotationOffsetLeft, IKPositionWeight * (1f - leftLeg.rotationWeight) * locomotion.weight); + rotationOffsetRight = Quaternion.Lerp(Quaternion.identity, rotationOffsetRight, IKPositionWeight * (1f - rightLeg.rotationWeight) * locomotion.weight); + + leftLeg.footRotationOffset = rotationOffsetLeft * leftLeg.footRotationOffset; + rightLeg.footRotationOffset = rotationOffsetRight * rightLeg.footRotationOffset; + + Vector3 footPositionC = Vector3.Lerp(leftLeg.position + leftLeg.footPositionOffset, rightLeg.position + rightLeg.footPositionOffset, 0.5f); + footPositionC = V3Tools.PointToPlane(footPositionC, rootBone.solverPosition, root.up); + + Vector3 p = rootBone.solverPosition + rootVelocity * deltaTime * 2f * locomotion.weight; + p = Vector3.Lerp(p, footPositionC, deltaTime * locomotion.rootSpeed * locomotion.weight); + rootBone.solverPosition = p; + + rootVelocity += (footPositionC - rootBone.solverPosition) * deltaTime * 10f; + Vector3 rootVelocityV = V3Tools.ExtractVertical(rootVelocity, root.up, 1f); + rootVelocity -= rootVelocityV; + + float bodyYOffset = Mathf.Min(leftFootOffset + rightFootOffset, locomotion.maxBodyYOffset * scale); + bodyOffset = Vector3.Lerp(bodyOffset, root.up * bodyYOffset, deltaTime * 3f); + bodyOffset = Vector3.Lerp(Vector3.zero, bodyOffset, locomotion.weight); + + break; + case Locomotion.Mode.Animated: + if (lastLocomotionWeight <= 0f) locomotion.Reset_Animated(readPositions); + locomotion.Solve_Animated(this, scale, deltaTime); + break; + } + } else + { + if (lastLocomotionWeight > 0f) locomotion.Reset_Animated(readPositions); + } + } + + lastLocomotionWeight = locomotion.weight; + + // Legs + if (hasLegs) + { + foreach (Leg leg in legs) + { + leg.ApplyOffsets(scale); + } + if (!plantFeet || LOD > 0) + { + spine.InverseTranslateToHead(legs, false, false, bodyOffset, 1f); + + foreach (Leg leg in legs) leg.TranslateRoot(spine.pelvis.solverPosition, spine.pelvis.solverRotation); + foreach (Leg leg in legs) + { + leg.Solve(true); + } + } + else + { + for (int i = 0; i < 2; i++) + { + spine.InverseTranslateToHead(legs, true, true, bodyOffset, 1f); + + foreach (Leg leg in legs) leg.TranslateRoot(spine.pelvis.solverPosition, spine.pelvis.solverRotation); + foreach (Leg leg in legs) + { + leg.Solve(i == 0); + } + } + } + } else + { + spine.InverseTranslateToHead(legs, false, false, bodyOffset, 1f); + } + + // Arms + if (hasArms) + { + for (int i = 0; i < arms.Length; i++) + { + arms[i].TranslateRoot(spine.chest.solverPosition, spine.chest.solverRotation); + } + + for (int i = 0; i < arms.Length; i++) + { + arms[i].Solve(i == 0); + } + } + + // Reset offsets + spine.ResetOffsets(); + if (hasLegs) foreach (Leg leg in legs) leg.ResetOffsets(); + if (hasArms) foreach (Arm arm in arms) arm.ResetOffsets(); + + if (hasLegs) + { + spine.pelvisPositionOffset += GetPelvisOffset(deltaTime); + spine.chestPositionOffset += spine.pelvisPositionOffset; + //spine.headPositionOffset += spine.pelvisPositionOffset; + } + + Write(); + + // Find the support leg + if (hasLegs) + { + supportLegIndex = -1; + float shortestMag = Mathf.Infinity; + for (int i = 0; i < legs.Length; i++) + { + float mag = Vector3.SqrMagnitude(legs[i].lastBone.solverPosition - legs[i].bones[0].solverPosition); + if (mag < shortestMag) + { + supportLegIndex = i; + shortestMag = mag; + } + } + } + } + + private float lastLocomotionWeight; + + private Vector3 GetPosition(int index) { + return solvedPositions[index]; + } + + private Quaternion GetRotation(int index) { + return solvedRotations[index]; + } + + #endregion Generic API + + [Tooltip("LOD 0: Full quality solving. LOD 1: Shoulder solving, stretching plant feet disabled, spine solving quality reduced. This provides about 30% of performance gain. LOD 2: Culled, but updating root position and rotation if locomotion is enabled.")] + /// + /// LOD 0: Full quality solving. LOD 1: Shoulder solving, stretching plant feet disabled, spine solving quality reduced. This provides about 30% of performance gain. LOD 2: Culled, but updating root position and rotation if locomotion is enabled. + /// + [Range(0, 2)] public int LOD = 0; + + [Tooltip("Scale of the character. Value of 1 means normal adult human size.")] + /// + /// Scale of the character. Value of 1 means normal adult human size. + /// + public float scale = 1f; + + [Tooltip("If true, will keep the toes planted even if head target is out of reach, so this can cause the camera to exit the head if it is too high for the model to reach. Enabling this increases the cost of the solver as the legs will have to be solved multiple times.")] + /// + /// If true, will keep the toes planted even if head target is out of reach, so this can cause the camera to exit the head if it is too high for the model to reach. Enabling this increases the cost of the solver as the legs will have to be solved multiple times. + /// + public bool plantFeet = true; + + /// + /// Gets the root bone. + /// + [HideInInspector] public VirtualBone rootBone { get; private set; } + + [Tooltip("The spine solver.")] + /// + /// The spine solver. + /// + public Spine spine = new Spine(); + + [Tooltip("The left arm solver.")] + /// + /// The left arm solver. + /// + public Arm leftArm = new Arm(); + + [Tooltip("The right arm solver.")] + /// + /// The right arm solver. + /// + public Arm rightArm = new Arm(); + + [Tooltip("The left leg solver.")] + /// + /// The left leg solver. + /// + public Leg leftLeg = new Leg(); + + [Tooltip("The right leg solver.")] + /// + /// The right leg solver. + /// + public Leg rightLeg = new Leg(); + + [Tooltip("Procedural leg shuffling for stationary VR games. Not designed for roomscale and thumbstick locomotion. For those it would be better to use a strafing locomotion blend tree to make the character follow the horizontal direction towards the HMD by root motion or script.")] + /// + /// Procedural leg shuffling for stationary VR games. Not designed for roomscale and thumbstick locomotion. For those it would be better to use a strafing locomotion blend tree to make the character follow the horizontal direction towards the HMD by root motion or script. + /// + public Locomotion locomotion = new Locomotion(); + + private Leg[] legs = new Leg[2]; + private Arm[] arms = new Arm[2]; + private Vector3 headPosition; + private Vector3 headDeltaPosition; + private Vector3 raycastOriginPelvis; + private Vector3 lastOffset; + private Vector3 debugPos1; + private Vector3 debugPos2; + private Vector3 debugPos3; + private Vector3 debugPos4; + + private void Write() { + solvedPositions[0] = rootBone.solverPosition; + solvedRotations[0] = rootBone.solverRotation; + spine.Write(ref solvedPositions, ref solvedRotations); + + if (hasLegs) + { + foreach (Leg leg in legs) leg.Write(ref solvedPositions, ref solvedRotations); + } + if (hasArms) + { + foreach (Arm arm in arms) arm.Write(ref solvedPositions, ref solvedRotations); + } + } + + private Vector3 GetPelvisOffset(float deltaTime) { + if (locomotion.weight <= 0f) return Vector3.zero; + if (locomotion.blockingLayers == -1) return Vector3.zero; + + // Origin to pelvis transform position + Vector3 sampledOrigin = raycastOriginPelvis; + sampledOrigin.y = spine.pelvis.solverPosition.y; + Vector3 origin = spine.pelvis.readPosition; + origin.y = spine.pelvis.solverPosition.y; + Vector3 direction = origin - sampledOrigin; + RaycastHit hit; + + //debugPos4 = sampledOrigin; + + if (locomotion.raycastRadius <= 0f) { + if (Physics.Raycast(sampledOrigin, direction, out hit, direction.magnitude * 1.1f, locomotion.blockingLayers)) { + origin = hit.point; + } + } else { + if (Physics.SphereCast(sampledOrigin, locomotion.raycastRadius * 1.1f, direction, out hit, direction.magnitude, locomotion.blockingLayers)) { + origin = sampledOrigin + direction.normalized * hit.distance / 1.1f; + } + } + + Vector3 position = spine.pelvis.solverPosition; + direction = position - origin; + + //debugPos1 = origin; + //debugPos2 = position; + + if (locomotion.raycastRadius <= 0f) { + if (Physics.Raycast(origin, direction, out hit, direction.magnitude, locomotion.blockingLayers)) { + position = hit.point; + } + + } else { + if (Physics.SphereCast(origin, locomotion.raycastRadius, direction, out hit, direction.magnitude, locomotion.blockingLayers)) { + position = origin + direction.normalized * hit.distance; + } + } + + lastOffset = Vector3.Lerp(lastOffset, Vector3.zero, deltaTime * 3f); + position += Vector3.ClampMagnitude(lastOffset, 0.75f); + position.y = spine.pelvis.solverPosition.y; + + //debugPos3 = position; + + lastOffset = Vector3.Lerp(lastOffset, position - spine.pelvis.solverPosition, deltaTime * 15f); + return lastOffset; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs.meta new file mode 100644 index 00000000..f9dd80ef --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVR.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: bb2326f82d9db4d968a05d743aeea69d +timeCreated: 1456729495 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs new file mode 100644 index 00000000..04764735 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs @@ -0,0 +1,548 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; + +namespace RootMotion.FinalIK +{ + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + public partial class IKSolverVR : IKSolver + { + + /// + /// 4-segmented analytic arm chain. + /// + [System.Serializable] + public class Arm : BodyPart + { + + [System.Serializable] + public enum ShoulderRotationMode + { + YawPitch, + FromTo + } + + [LargeHeader("Hand")] + + [Tooltip("The hand target. This should not be the hand controller itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the hand bone. The best practice for setup would be to move the hand controller to the avatar's hand as it it was held by the avatar, duplicate the avatar's hand bone and parent it to the hand controller. Then assign the duplicate to this slot.")] + /// + /// The hand target. This should not be the hand controller itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the hand bone. The best practice for setup would be to move the hand controller to the avatar's hand as it it was held by the avatar, duplicate the avatar's hand bone and parent it to the hand controller. Then assign the duplicate to this slot. + /// + public Transform target; + + [Tooltip("Positional weight of the hand target. Note that if you have nulled the target, the hand will still be pulled to the last position of the target until you set this value to 0.")] + /// + /// Positional weight of the hand target. Note that if you have nulled the target, the hand will still be pulled to the last position of the target until you set this value to 0. + /// + [Range(0f, 1f)] public float positionWeight = 1f; + + [Tooltip("Rotational weight of the hand target. Note that if you have nulled the target, the hand will still be rotated to the last rotation of the target until you set this value to 0.")] + /// + /// Rotational weight of the hand target. Note that if you have nulled the target, the hand will still be rotated to the last rotation of the target until you set this value to 0. + /// + [Range(0f, 1f)] public float rotationWeight = 1f; + + [LargeHeader("Shoulder")] + + [Tooltip("The weight of shoulder rotation")] + /// + /// The weight of shoulder rotation. + /// + [Range(0f, 1f)] public float shoulderRotationWeight = 1f; + + [Tooltip("Different techniques for shoulder bone rotation.")] + [ShowIf("shoulderRotationWeight", 0f, Mathf.Infinity)] + /// + /// Different techniques for shoulder bone rotation. + /// + public ShoulderRotationMode shoulderRotationMode = ShoulderRotationMode.YawPitch; + + [Tooltip("The weight of twisting the shoulders backwards when arms are lifted up.")] + [ShowRangeIf(0f, 1f, "shoulderRotationWeight", 0f, Mathf.Infinity)] + /// + /// The weight of twisting the shoulders backwards when arms are lifted up. + /// + public float shoulderTwistWeight = 1f; + + [Tooltip("Tweak this value to adjust shoulder rotation around the yaw (up) axis.")] + [ShowIf("shoulderRotationWeight", 0f, Mathf.Infinity)] + /// + /// Tweak this value to adjust shoulder rotation around the yaw (up) axis. + /// + public float shoulderYawOffset = 45f; + + [Tooltip("Tweak this value to adjust shoulder rotation around the pitch (forward) axis.")] + [ShowIf("shoulderRotationWeight", 0f, Mathf.Infinity)] + /// + /// Tweak this value to adjust shoulder rotation around the pitch (forward) axis. + /// + public float shoulderPitchOffset = -30f; + + [LargeHeader("Bending")] + [Tooltip("The elbow will be bent towards this Transform if 'Bend Goal Weight' > 0.")] + /// + /// The elbow will be bent towards this Transform if 'Bend Goal Weight' > 0. + /// + public Transform bendGoal; + + [Tooltip("If greater than 0, will bend the elbow towards the 'Bend Goal' Transform.")] + /// + /// If greater than 0, will bend the elbow towards the 'Bend Goal' Transform. + /// + [Range(0f, 1f)] + public float bendGoalWeight; + + [Tooltip("Angular offset of the elbow bending direction.")] + /// + /// Angular offset of the elbow bending direction. + /// + [Range(-180f, 180f)] public float swivelOffset; + + [Tooltip("Local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation. If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu.")] + /// + /// Local axis of the hand bone that points from the wrist towards the palm. Used for defining hand bone orientation. If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu. + /// + public Vector3 wristToPalmAxis = Vector3.zero; + + [Tooltip("Local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation. If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu.")] + /// + /// Local axis of the hand bone that points from the palm towards the thumb. Used for defining hand bone orientation If you have copied VRIK component from another avatar that has different bone orientations, right-click on VRIK header and select 'Guess Hand Orientations' from the context menu.. + /// + public Vector3 palmToThumbAxis = Vector3.zero; + + [LargeHeader("Stretching")] + + [Tooltip("Use this to make the arm shorter/longer. Works by displacement of hand and forearm localPosition.")] + /// + /// Use this to make the arm shorter/longer. Works by displacement of hand and forearm localPosition. + /// + [Range(0.01f, 2f)] + public float armLengthMlp = 1f; + + [Tooltip("'Time' represents (target distance / arm length) and 'value' represents the amount of stretching. So value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right by the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character.")] + /// + /// 'Time' represents (target distance / arm length) and 'value' represents the amount of stretching. So value at time 1 represents stretching amount at the point where distance to the target is equal to arm length. Value at time 2 represents stretching amount at the point where distance to the target is double the arm length. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right by the same amount. Smoothing in the curve can help reduce elbow snapping (start stretching the arm slightly before target distance reaches arm length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + /// + public AnimationCurve stretchCurve = new AnimationCurve(); + + /// + /// Target position of the hand. Will be overwritten if target is assigned. + /// + [NonSerialized] [HideInInspector] public Vector3 IKPosition; + + /// + /// Target rotation of the hand. Will be overwritten if target is assigned. + /// + [NonSerialized] [HideInInspector] public Quaternion IKRotation = Quaternion.identity; + + /// + /// The bending direction of the limb. Will be used if bendGoalWeight is greater than 0. Will be overwritten if bendGoal is assigned. + /// + [NonSerialized] [HideInInspector] public Vector3 bendDirection = Vector3.back; + + /// + /// Position offset of the hand. Will be applied on top of hand target position and reset to Vector3.zero after each update. + /// + [NonSerialized] [HideInInspector] public Vector3 handPositionOffset; + + // Gets the target position of the hand. + public Vector3 position { get; private set; } + + // Gets the target rotation of the hand + public Quaternion rotation { get; private set; } + + private bool hasShoulder; + private VirtualBone shoulder { get { return bones[0]; } } + private VirtualBone upperArm + { + get + { + return bones[hasShoulder ? 1 : 0]; + } + } + private VirtualBone forearm + { + get + { + return bones[hasShoulder ? 2 : 1]; + } + } + private VirtualBone hand + { + get + { + return bones[hasShoulder ? 3 : 2]; + } + } + private Vector3 chestForwardAxis; + private Vector3 chestUpAxis; + private Quaternion chestRotation = Quaternion.identity; + private Vector3 chestForward; + private Vector3 chestUp; + private Quaternion forearmRelToUpperArm = Quaternion.identity; + private Vector3 upperArmBendAxis; + + protected override void OnRead(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index) + { + Vector3 shoulderPosition = positions[index]; + Quaternion shoulderRotation = rotations[index]; + Vector3 upperArmPosition = positions[index + 1]; + Quaternion upperArmRotation = rotations[index + 1]; + Vector3 forearmPosition = positions[index + 2]; + Quaternion forearmRotation = rotations[index + 2]; + Vector3 handPosition = positions[index + 3]; + Quaternion handRotation = rotations[index + 3]; + + if (!initiated) + { + IKPosition = handPosition; + IKRotation = handRotation; + rotation = IKRotation; + + this.hasShoulder = hasShoulders; + + bones = new VirtualBone[hasShoulder ? 4 : 3]; + + if (hasShoulder) + { + bones[0] = new VirtualBone(shoulderPosition, shoulderRotation); + bones[1] = new VirtualBone(upperArmPosition, upperArmRotation); + bones[2] = new VirtualBone(forearmPosition, forearmRotation); + bones[3] = new VirtualBone(handPosition, handRotation); + } + else + { + this.bones[0] = new VirtualBone(upperArmPosition, upperArmRotation); + this.bones[1] = new VirtualBone(forearmPosition, forearmRotation); + this.bones[2] = new VirtualBone(handPosition, handRotation); + } + + Vector3 rootForward = rotations[0] * Vector3.forward; + chestForwardAxis = Quaternion.Inverse(rootRotation) * rootForward; + chestUpAxis = Quaternion.Inverse(rootRotation) * (rotations[0] * Vector3.up); + + // Get the local axis of the upper arm pointing towards the bend normal + Vector3 upperArmForwardAxis = AxisTools.GetAxisVectorToDirection(upperArmRotation, rootForward); + if (Vector3.Dot(upperArmRotation * upperArmForwardAxis, rootForward) < 0f) upperArmForwardAxis = -upperArmForwardAxis; + upperArmBendAxis = Vector3.Cross(Quaternion.Inverse(upperArmRotation) * (forearmPosition - upperArmPosition), upperArmForwardAxis); + if (upperArmBendAxis == Vector3.zero) + { + Debug.LogError("VRIK can not calculate which way to bend the arms because the arms are perfectly straight. Please rotate the elbow bones slightly in their natural bending direction in the Editor."); + } + } + + if (hasShoulder) + { + bones[0].Read(shoulderPosition, shoulderRotation); + bones[1].Read(upperArmPosition, upperArmRotation); + bones[2].Read(forearmPosition, forearmRotation); + bones[3].Read(handPosition, handRotation); + } + else + { + bones[0].Read(upperArmPosition, upperArmRotation); + bones[1].Read(forearmPosition, forearmRotation); + bones[2].Read(handPosition, handRotation); + } + } + + public override void PreSolve(float scale) + { + if (target != null) + { + IKPosition = target.position; + IKRotation = target.rotation; + } + + position = V3Tools.Lerp(hand.solverPosition, IKPosition, positionWeight); + rotation = QuaTools.Lerp(hand.solverRotation, IKRotation, rotationWeight); + + shoulder.axis = shoulder.axis.normalized; + forearmRelToUpperArm = Quaternion.Inverse(upperArm.solverRotation) * forearm.solverRotation; + } + + public override void ApplyOffsets(float scale) + { + position += handPositionOffset; + } + + private void Stretching() + { + // Adjusting arm length + float armLength = upperArm.length + forearm.length; + Vector3 elbowAdd = Vector3.zero; + Vector3 handAdd = Vector3.zero; + + if (armLengthMlp != 1f) + { + armLength *= armLengthMlp; + elbowAdd = (forearm.solverPosition - upperArm.solverPosition) * (armLengthMlp - 1f); + handAdd = (hand.solverPosition - forearm.solverPosition) * (armLengthMlp - 1f); + forearm.solverPosition += elbowAdd; + hand.solverPosition += elbowAdd + handAdd; + } + + // Stretching + float distanceToTarget = Vector3.Distance(upperArm.solverPosition, position); + float stretchF = distanceToTarget / armLength; + + float m = stretchCurve.Evaluate(stretchF); + m *= positionWeight; + + elbowAdd = (forearm.solverPosition - upperArm.solverPosition) * m; + handAdd = (hand.solverPosition - forearm.solverPosition) * m; + + forearm.solverPosition += elbowAdd; + hand.solverPosition += elbowAdd + handAdd; + } + + public void Solve(bool isLeft) + { + chestRotation = Quaternion.LookRotation(rootRotation * chestForwardAxis, rootRotation * chestUpAxis); + chestForward = chestRotation * Vector3.forward; + chestUp = chestRotation * Vector3.up; + + //Debug.DrawRay (Vector3.up * 2f, chestForward); + //Debug.DrawRay (Vector3.up * 2f, chestUp); + + Vector3 bendNormal = Vector3.zero; + + if (hasShoulder && shoulderRotationWeight > 0f && LOD < 1) + { + switch (shoulderRotationMode) + { + case ShoulderRotationMode.YawPitch: + Vector3 sDir = position - shoulder.solverPosition; + sDir = sDir.normalized; + + // Shoulder Yaw + float yOA = isLeft ? shoulderYawOffset : -shoulderYawOffset; + Quaternion yawOffset = Quaternion.AngleAxis((isLeft ? -90f : 90f) + yOA, chestUp); + Quaternion workingSpace = yawOffset * chestRotation; + + //Debug.DrawRay(Vector3.up * 2f, workingSpace * Vector3.forward); + //Debug.DrawRay(Vector3.up * 2f, workingSpace * Vector3.up); + + Vector3 sDirWorking = Quaternion.Inverse(workingSpace) * sDir; + + //Debug.DrawRay(Vector3.up * 2f, sDirWorking); + + float yaw = Mathf.Atan2(sDirWorking.x, sDirWorking.z) * Mathf.Rad2Deg; + + float dotY = Vector3.Dot(sDirWorking, Vector3.up); + dotY = 1f - Mathf.Abs(dotY); + yaw *= dotY; + + yaw -= yOA; + float yawLimitMin = isLeft ? -20f : -50f; + float yawLimitMax = isLeft ? 50f : 20f; + yaw = DamperValue(yaw, yawLimitMin - yOA, yawLimitMax - yOA, 0.7f); // back, forward + + Vector3 f = shoulder.solverRotation * shoulder.axis; + Vector3 t = workingSpace * (Quaternion.AngleAxis(yaw, Vector3.up) * Vector3.forward); + Quaternion yawRotation = Quaternion.FromToRotation(f, t); + + //Debug.DrawRay(Vector3.up * 2f, f, Color.red); + //Debug.DrawRay(Vector3.up * 2f, t, Color.green); + + //Debug.DrawRay(Vector3.up * 2f, yawRotation * Vector3.forward, Color.blue); + //Debug.DrawRay(Vector3.up * 2f, yawRotation * Vector3.up, Color.green); + //Debug.DrawRay(Vector3.up * 2f, yawRotation * Vector3.right, Color.red); + + // Shoulder Pitch + Quaternion pitchOffset = Quaternion.AngleAxis(isLeft ? -90f : 90f, chestUp); + workingSpace = pitchOffset * chestRotation; + workingSpace = Quaternion.AngleAxis(isLeft ? shoulderPitchOffset : -shoulderPitchOffset, chestForward) * workingSpace; + + //Debug.DrawRay(Vector3.up * 2f, workingSpace * Vector3.forward); + //Debug.DrawRay(Vector3.up * 2f, workingSpace * Vector3.up); + + sDir = position - (shoulder.solverPosition + chestRotation * (isLeft ? Vector3.right : Vector3.left) * mag); + sDirWorking = Quaternion.Inverse(workingSpace) * sDir; + + //Debug.DrawRay(Vector3.up * 2f, sDirWorking); + + float pitch = Mathf.Atan2(sDirWorking.y, sDirWorking.z) * Mathf.Rad2Deg; + + pitch -= shoulderPitchOffset; + pitch = DamperValue(pitch, -45f - shoulderPitchOffset, 45f - shoulderPitchOffset); + + Quaternion pitchRotation = Quaternion.AngleAxis(-pitch, workingSpace * Vector3.right); + + //Debug.DrawRay(Vector3.up * 2f, pitchRotation * Vector3.forward, Color.green); + //Debug.DrawRay(Vector3.up * 2f, pitchRotation * Vector3.up, Color.green); + + // Rotate bones + Quaternion sR = pitchRotation * yawRotation; + if (shoulderRotationWeight * positionWeight < 1f) sR = Quaternion.Lerp(Quaternion.identity, sR, shoulderRotationWeight * positionWeight); + VirtualBone.RotateBy(bones, sR); + + Stretching(); + + // Solve trigonometric + bendNormal = GetBendNormal(position - upperArm.solverPosition); + VirtualBone.SolveTrigonometric(bones, 1, 2, 3, position, bendNormal, positionWeight); + + float p = Mathf.Clamp(pitch * positionWeight * shoulderRotationWeight * shoulderTwistWeight * 2f, 0f, 180f); + shoulder.solverRotation = Quaternion.AngleAxis(p, shoulder.solverRotation * (isLeft ? shoulder.axis : -shoulder.axis)) * shoulder.solverRotation; + upperArm.solverRotation = Quaternion.AngleAxis(p, upperArm.solverRotation * (isLeft ? upperArm.axis : -upperArm.axis)) * upperArm.solverRotation; + + // Additional pass to reach with the shoulders + //VirtualBone.SolveTrigonometric(bones, 0, 1, 3, position, Vector3.Cross(upperArm.solverPosition - shoulder.solverPosition, hand.solverPosition - shoulder.solverPosition), positionWeight * 0.5f); + break; + case ShoulderRotationMode.FromTo: + Quaternion shoulderRotation = shoulder.solverRotation; + + Quaternion r = Quaternion.FromToRotation((upperArm.solverPosition - shoulder.solverPosition).normalized + chestForward, position - shoulder.solverPosition); + r = Quaternion.Slerp(Quaternion.identity, r, 0.5f * shoulderRotationWeight * positionWeight); + VirtualBone.RotateBy(bones, r); + + Stretching(); + + VirtualBone.SolveTrigonometric(bones, 0, 2, 3, position, Vector3.Cross(forearm.solverPosition - shoulder.solverPosition, hand.solverPosition - shoulder.solverPosition), 0.5f * shoulderRotationWeight * positionWeight); + bendNormal = GetBendNormal(position - upperArm.solverPosition); + VirtualBone.SolveTrigonometric(bones, 1, 2, 3, position, bendNormal, positionWeight); + + // Twist shoulder and upper arm bones when holding hands up + Quaternion q = Quaternion.Inverse(Quaternion.LookRotation(chestUp, chestForward)); + Vector3 vBefore = q * (shoulderRotation * shoulder.axis); + Vector3 vAfter = q * (shoulder.solverRotation * shoulder.axis); + float angleBefore = Mathf.Atan2(vBefore.x, vBefore.z) * Mathf.Rad2Deg; + float angleAfter = Mathf.Atan2(vAfter.x, vAfter.z) * Mathf.Rad2Deg; + float pitchAngle = Mathf.DeltaAngle(angleBefore, angleAfter); + if (isLeft) pitchAngle = -pitchAngle; + pitchAngle = Mathf.Clamp(pitchAngle * shoulderRotationWeight * shoulderTwistWeight * 2f * positionWeight, 0f, 180f); + + shoulder.solverRotation = Quaternion.AngleAxis(pitchAngle, shoulder.solverRotation * (isLeft ? shoulder.axis : -shoulder.axis)) * shoulder.solverRotation; + upperArm.solverRotation = Quaternion.AngleAxis(pitchAngle, upperArm.solverRotation * (isLeft ? upperArm.axis : -upperArm.axis)) * upperArm.solverRotation; + break; + } + } + else + { + if (LOD < 1) Stretching(); + + bendNormal = GetBendNormal(position - upperArm.solverPosition); + // Solve arm trigonometric + if (hasShoulder) + { + VirtualBone.SolveTrigonometric(bones, 1, 2, 3, position, bendNormal, positionWeight); + } + else + { + VirtualBone.SolveTrigonometric(bones, 0, 1, 2, position, bendNormal, positionWeight); + } + } + + if (LOD < 1 && positionWeight > 0f) + { + // Fix upperarm twist relative to bend normal + Quaternion space = Quaternion.LookRotation(upperArm.solverRotation * upperArmBendAxis, forearm.solverPosition - upperArm.solverPosition); + Vector3 upperArmTwist = Quaternion.Inverse(space) * bendNormal; + float angle = Mathf.Atan2(upperArmTwist.x, upperArmTwist.z) * Mathf.Rad2Deg; + upperArm.solverRotation = Quaternion.AngleAxis(angle * positionWeight, forearm.solverPosition - upperArm.solverPosition) * upperArm.solverRotation; + + // Fix forearm twist relative to upper arm + Quaternion forearmFixed = upperArm.solverRotation * forearmRelToUpperArm; + Quaternion fromTo = Quaternion.FromToRotation(forearmFixed * forearm.axis, hand.solverPosition - forearm.solverPosition); + RotateTo(forearm, fromTo * forearmFixed, positionWeight); + } + + // Set hand rotation + if (rotationWeight >= 1f) + { + hand.solverRotation = rotation; + } + else if (rotationWeight > 0f) + { + hand.solverRotation = Quaternion.Lerp(hand.solverRotation, rotation, rotationWeight); + } + } + + public override void ResetOffsets() + { + handPositionOffset = Vector3.zero; + } + + public override void Write(ref Vector3[] solvedPositions, ref Quaternion[] solvedRotations) + { + if (hasShoulder) + { + solvedPositions[index] = shoulder.solverPosition; + solvedRotations[index] = shoulder.solverRotation; + } + + solvedPositions[index + 1] = upperArm.solverPosition; + solvedPositions[index + 2] = forearm.solverPosition; + solvedPositions[index + 3] = hand.solverPosition; + + solvedRotations[index + 1] = upperArm.solverRotation; + solvedRotations[index + 2] = forearm.solverRotation; + solvedRotations[index + 3] = hand.solverRotation; + } + + private float DamperValue(float value, float min, float max, float weight = 1f) + { + float range = max - min; + + if (weight < 1f) + { + float mid = max - range * 0.5f; + float v = value - mid; + v *= 0.5f; + value = mid + v; + } + + value -= min; + + float t = Mathf.Clamp(value / range, 0f, 1f); + float tEased = RootMotion.Interp.Float(t, InterpolationMode.InOutQuintic); + return Mathf.Lerp(min, max, tEased); + } + + private Vector3 GetBendNormal(Vector3 dir) + { + if (bendGoal != null) bendDirection = bendGoal.position - bones[1].solverPosition; + + Vector3 armDir = bones[0].solverRotation * bones[0].axis; + + Vector3 f = Vector3.down; + Vector3 t = Quaternion.Inverse(chestRotation) * dir.normalized + Vector3.forward; + Quaternion q = Quaternion.FromToRotation(f, t); + + Vector3 b = q * Vector3.back; + + f = Quaternion.Inverse(chestRotation) * armDir; + t = Quaternion.Inverse(chestRotation) * dir; + q = Quaternion.FromToRotation(f, t); + b = q * b; + + b = chestRotation * b; + + b += armDir; + b -= rotation * wristToPalmAxis; + b -= rotation * palmToThumbAxis * 0.5f; + + if (bendGoalWeight > 0f) + { + b = Vector3.Slerp(b, bendDirection, bendGoalWeight); + } + + if (swivelOffset != 0f) b = Quaternion.AngleAxis(swivelOffset, -dir) * b; + + return Vector3.Cross(b, dir); + } + + private void Visualize(VirtualBone bone1, VirtualBone bone2, VirtualBone bone3, Color color) + { + Debug.DrawLine(bone1.solverPosition, bone2.solverPosition, color); + Debug.DrawLine(bone2.solverPosition, bone3.solverPosition, color); + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs.meta new file mode 100644 index 00000000..af5163b5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRArm.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: f490a683bef204445a10e96a5f719bad +timeCreated: 1456910094 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs new file mode 100644 index 00000000..fe13455e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs @@ -0,0 +1,105 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers. + /// + public partial class IKSolverVR: IKSolver { + + /// + /// A base class for all IKSolverVR body parts. + /// + [System.Serializable] + public abstract class BodyPart { + + protected abstract void OnRead(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index); + public abstract void PreSolve(float scale); + public abstract void Write(ref Vector3[] solvedPositions, ref Quaternion[] solvedRotations); + public abstract void ApplyOffsets(float scale); + public abstract void ResetOffsets(); + + public float sqrMag { get; private set; } + public float mag { get; private set; } + + [HideInInspector] public VirtualBone[] bones = new VirtualBone[0]; + protected bool initiated; + protected Vector3 rootPosition; + protected Quaternion rootRotation = Quaternion.identity; + protected int index = -1; + protected int LOD; + + public void SetLOD(int LOD) + { + this.LOD = LOD; + } + + public void Read(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index) { + this.index = index; + + rootPosition = positions[rootIndex]; + rootRotation = rotations[rootIndex]; + + OnRead(positions, rotations, hasChest, hasNeck, hasShoulders, hasToes, hasLegs, rootIndex, index); + + mag = VirtualBone.PreSolve(ref bones); + sqrMag = mag * mag; + + initiated = true; + } + + public void MovePosition(Vector3 position) { + Vector3 delta = position - bones[0].solverPosition; + foreach (VirtualBone bone in bones) bone.solverPosition += delta; + } + + public void MoveRotation(Quaternion rotation) { + Quaternion delta = QuaTools.FromToRotation(bones[0].solverRotation, rotation); + VirtualBone.RotateAroundPoint(bones, 0, bones[0].solverPosition, delta); + } + + public void Translate(Vector3 position, Quaternion rotation) { + MovePosition(position); + MoveRotation(rotation); + } + + public void TranslateRoot(Vector3 newRootPos, Quaternion newRootRot) { + Vector3 deltaPosition = newRootPos - rootPosition; + rootPosition = newRootPos; + foreach (VirtualBone bone in bones) bone.solverPosition += deltaPosition; + + Quaternion deltaRotation = QuaTools.FromToRotation(rootRotation, newRootRot); + rootRotation = newRootRot; + VirtualBone.RotateAroundPoint(bones, 0, newRootPos, deltaRotation); + } + + public void RotateTo(VirtualBone bone, Quaternion rotation, float weight = 1f) { + if (weight <= 0f) return; + + Quaternion q = QuaTools.FromToRotation(bone.solverRotation, rotation); + + if (weight < 1f) q = Quaternion.Slerp(Quaternion.identity, q, weight); + + for (int i = 0; i < bones.Length; i++) { + if (bones[i] == bone) { + VirtualBone.RotateAroundPoint(bones, i, bones[i].solverPosition, q); + return; + } + } + } + + public void Visualize(Color color) { + for (int i = 0; i < bones.Length - 1; i++) { + Debug.DrawLine(bones[i].solverPosition, bones[i + 1].solverPosition, color); + } + } + + public void Visualize() { + Visualize(Color.white); + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs.meta new file mode 100644 index 00000000..c09efb4a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRBodyPart.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: cf16693a882bc4380a0b4cdaa370777e +timeCreated: 1457005784 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs new file mode 100644 index 00000000..084dc0d6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs @@ -0,0 +1,96 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.Events; + +namespace RootMotion.FinalIK { + + public partial class IKSolverVR: IKSolver { + + [System.Serializable] + public class Footstep { + + public float stepSpeed = 3f; + public Vector3 characterSpaceOffset; + + public Vector3 position; + public Quaternion rotation = Quaternion.identity; + public Quaternion stepToRootRot = Quaternion.identity; + public bool isStepping { get { return stepProgress < 1f; }} + public bool isSupportLeg; + public bool relaxFlag; + + public float stepProgress { get; private set; } + public Vector3 stepFrom; + public Vector3 stepTo; + public Quaternion stepFromRot = Quaternion.identity; + public Quaternion stepToRot = Quaternion.identity; + private Quaternion footRelativeToRoot = Quaternion.identity; + private float supportLegW; + private float supportLegWV; + + public Footstep (Quaternion rootRotation, Vector3 footPosition, Quaternion footRotation, Vector3 characterSpaceOffset) { + this.characterSpaceOffset = characterSpaceOffset; + Reset(rootRotation, footPosition, footRotation); + footRelativeToRoot = Quaternion.Inverse(rootRotation) * rotation; + } + + public void Reset(Quaternion rootRotation, Vector3 footPosition, Quaternion footRotation) { + position = footPosition; + rotation = footRotation; + stepFrom = position; + stepTo = position; + stepFromRot = rotation; + stepToRot = rotation; + stepToRootRot = rootRotation; + stepProgress = 1f; + } + + public void StepTo(Vector3 p, Quaternion rootRotation, float stepThreshold) { + if (relaxFlag) + { + stepThreshold = 0f; + relaxFlag = false; + } + + if (Vector3.Magnitude(p - stepTo) < stepThreshold && Quaternion.Angle(rootRotation, stepToRootRot) < 25f) return; + stepFrom = position; + stepTo = p; + stepFromRot = rotation; + stepToRootRot = rootRotation; + stepToRot = rootRotation * footRelativeToRoot; + stepProgress = 0f; + } + + public void UpdateStepping(Vector3 p, Quaternion rootRotation, float speed, float deltaTime) { + stepTo = Vector3.Lerp (stepTo, p, deltaTime * speed); + stepToRot = Quaternion.Lerp (stepToRot, rootRotation * footRelativeToRoot, deltaTime * speed); + + stepToRootRot = stepToRot * Quaternion.Inverse(footRelativeToRoot); + } + + public void UpdateStanding(Quaternion rootRotation, float minAngle, float speed, float deltaTime) { + if (speed <= 0f || minAngle >= 180f) return; + + Quaternion r = rootRotation * footRelativeToRoot; + float angle = Quaternion.Angle (rotation, r); + if (angle > minAngle) rotation = Quaternion.RotateTowards (rotation, r, Mathf.Min (deltaTime * speed * (1f - supportLegW), angle -minAngle)); + } + + public void Update(InterpolationMode interpolation, UnityEvent onStep, float deltaTime) { + float supportLegWTarget = isSupportLeg ? 1f : 0f; + supportLegW = Mathf.SmoothDamp (supportLegW, supportLegWTarget, ref supportLegWV, 0.2f); + + if (!isStepping) return; + + stepProgress = Mathf.MoveTowards(stepProgress, 1f, deltaTime * stepSpeed); + + if (stepProgress >= 1f) onStep.Invoke (); + + float stepProgressSmooth = RootMotion.Interp.Float(stepProgress, interpolation); + + position = Vector3.Lerp(stepFrom, stepTo, stepProgressSmooth); + rotation = Quaternion.Lerp(stepFromRot, stepToRot, stepProgressSmooth); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs.meta new file mode 100644 index 00000000..12910041 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRFootstep.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 20a3b52b2557ad34794c80cfe364e330 +timeCreated: 1462272654 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs new file mode 100644 index 00000000..36af92b6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs @@ -0,0 +1,387 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + public partial class IKSolverVR: IKSolver { + + /// + /// 4-segmented analytic leg chain. + /// + [System.Serializable] + public class Leg: BodyPart { + + [LargeHeader("Foot/Toe")] + + [Tooltip("The foot/toe target. This should not be the foot tracker itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the foot/toe bone. If a toe bone is assigned in the References, the solver will match the toe bone to this target. If no toe bone assigned, foot bone will be used instead.")] + /// + /// The foot/toe target. This should not be the foot tracker itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the foot/toe bone. If a toe bone is assigned in the References, the solver will match the toe bone to this target. If no toe bone assigned, foot bone will be used instead. + /// + public Transform target; + + [Tooltip("Positional weight of the toe/foot target. Note that if you have nulled the target, the foot will still be pulled to the last position of the target until you set this value to 0.")] + /// + /// Positional weight of the toe/foot target. Note that if you have nulled the target, the foot will still be pulled to the last position of the target until you set this value to 0. + /// + [Range(0f, 1f)] public float positionWeight; + + [Tooltip("Rotational weight of the toe/foot target. Note that if you have nulled the target, the foot will still be rotated to the last rotation of the target until you set this value to 0.")] + /// + /// Rotational weight of the toe/foot target. Note that if you have nulled the target, the foot will still be rotated to the last rotation of the target until you set this value to 0. + /// + [Range(0f, 1f)] public float rotationWeight; + + [LargeHeader("Bending")] + [Tooltip("The knee will be bent towards this Transform if 'Bend Goal Weight' > 0.")] + /// + /// The knee will be bent towards this Transform if 'Bend Goal Weight' > 0. + /// + public Transform bendGoal; + + [Tooltip("If greater than 0, will bend the knee towards the 'Bend Goal' Transform.")] + /// + /// If greater than 0, will bend the knee towards the 'Bend Goal' Transform. + /// + [Range(0f, 1f)] public float bendGoalWeight; + + [Tooltip("Angular offset of knee bending direction.")] + /// + /// Angular offset of knee bending direction. + /// + [Range(-180f, 180f)] public float swivelOffset; + + [Tooltip("If 0, the bend plane will be locked to the rotation of the pelvis and rotating the foot will have no effect on the knee direction. If 1, to the target rotation of the leg so that the knee will bend towards the forward axis of the foot. Values in between will be slerped between the two.")] + /// + /// If 0, the bend plane will be locked to the rotation of the pelvis and rotating the foot will have no effect on the knee direction. If 1, to the target rotation of the leg so that the knee will bend towards the forward axis of the foot. Values in between will be slerped between the two. + /// + [Range(0f, 1f)] public float bendToTargetWeight = 0.5f; + + [LargeHeader("Stretching")] + + [Tooltip("Use this to make the leg shorter/longer. Works by displacement of foot and calf localPosition.")] + /// + /// Use this to make the leg shorter/longer. Works by displacement of foot and calf localPosition. + /// + [Range(0.01f, 2f)] + public float legLengthMlp = 1f; + + [Tooltip("Evaluates stretching of the leg by target distance relative to leg length. Value at time 1 represents stretching amount at the point where distance to the target is equal to leg length. Value at time 1 represents stretching amount at the point where distance to the target is double the leg length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce knee snapping (start stretching the arm slightly before target distance reaches leg length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character.")] + /// + /// Evaluates stretching of the leg by target distance relative to leg length. Value at time 1 represents stretching amount at the point where distance to the target is equal to leg length. Value at time 1 represents stretching amount at the point where distance to the target is double the leg length. Value represents the amount of stretching. Linear stretching would be achieved with a linear curve going up by 45 degrees. Increase the range of stretching by moving the last key up and right at the same amount. Smoothing in the curve can help reduce knee snapping (start stretching the arm slightly before target distance reaches leg length). To get a good optimal value for this curve, please go to the 'VRIK (Basic)' demo scene and copy the stretch curve over from the Pilot character. + /// + public AnimationCurve stretchCurve = new AnimationCurve(); + + /// + /// Target position of the toe/foot. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Vector3 IKPosition; + + /// + /// Target rotation of the toe/foot. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Quaternion IKRotation = Quaternion.identity; + + /// + /// Position offset of the toe/foot. Will be applied on top of target position and reset to Vector3.zero after each update. + /// + [NonSerialized][HideInInspector] public Vector3 footPositionOffset; + + /// + /// Position offset of the heel. Will be reset to Vector3.zero after each update. + /// + [NonSerialized][HideInInspector] public Vector3 heelPositionOffset; + + /// + /// Rotation offset of the toe/foot. Will be reset to Quaternion.identity after each update. + /// + [NonSerialized][HideInInspector] public Quaternion footRotationOffset = Quaternion.identity; + + /// + /// The length of the leg (calculated in last read). + /// + [NonSerialized][HideInInspector] public float currentMag; + + /// + /// If true, will sample the leg bend angle each frame from the animation. + /// + [HideInInspector] public bool useAnimatedBendNormal; + + public Vector3 position { get; private set; } + public Quaternion rotation { get; private set; } + public bool hasToes { get; private set; } + public VirtualBone thigh { get { return bones[0]; }} + private VirtualBone calf { get { return bones[1]; }} + private VirtualBone foot { get { return bones[2]; }} + private VirtualBone toes { get { return bones[3]; }} + public VirtualBone lastBone { get { return bones[bones.Length - 1]; }} + public Vector3 thighRelativeToPelvis { get; private set; } + + private Vector3 footPosition; + private Quaternion footRotation = Quaternion.identity; + private Vector3 bendNormal; + private Quaternion calfRelToThigh = Quaternion.identity; + private Quaternion thighRelToFoot = Quaternion.identity; + public Vector3 bendNormalRelToPelvis { get; set; } + public Vector3 bendNormalRelToTarget { get; set; } + + protected override void OnRead(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index) { + Vector3 thighPos = positions[index]; + Quaternion thighRot = rotations[index]; + Vector3 calfPos = positions[index + 1]; + Quaternion calfRot = rotations[index + 1]; + Vector3 footPos = positions[index + 2]; + Quaternion footRot = rotations[index + 2]; + Vector3 toePos = positions[index + 3]; + Quaternion toeRot = rotations[index + 3]; + + if (!initiated) { + this.hasToes = hasToes; + bones = new VirtualBone[hasToes? 4: 3]; + + if (hasToes) { + bones[0] = new VirtualBone(thighPos, thighRot); + bones[1] = new VirtualBone(calfPos, calfRot); + bones[2] = new VirtualBone(footPos, footRot); + bones[3] = new VirtualBone(toePos, toeRot); + + IKPosition = toePos; + IKRotation = toeRot; + } else { + bones[0] = new VirtualBone(thighPos, thighRot); + bones[1] = new VirtualBone(calfPos, calfRot); + bones[2] = new VirtualBone(footPos, footRot); + + IKPosition = footPos; + IKRotation = footRot; + } + + bendNormal = Vector3.Cross(calfPos - thighPos, footPos - calfPos); + //bendNormal = rotations[0] * Vector3.right; // Use this to make the knees bend towards root.forward + + bendNormalRelToPelvis = Quaternion.Inverse(rootRotation) * bendNormal; + bendNormalRelToTarget = Quaternion.Inverse(IKRotation) * bendNormal; + + rotation = IKRotation; + } + + if (hasToes) { + bones[0].Read(thighPos, thighRot); + bones[1].Read(calfPos, calfRot); + bones[2].Read(footPos, footRot); + bones[3].Read(toePos, toeRot); + } else { + bones[0].Read(thighPos, thighRot); + bones[1].Read(calfPos, calfRot); + bones[2].Read(footPos, footRot); + } + } + + public override void PreSolve(float scale) { + if (target != null) { + IKPosition = target.position; + IKRotation = target.rotation; + } + + footPosition = foot.solverPosition; + footRotation = foot.solverRotation; + + position = lastBone.solverPosition; + rotation = lastBone.solverRotation; + + if (rotationWeight > 0f) { + ApplyRotationOffset(RootMotion.QuaTools.FromToRotation(rotation, IKRotation), rotationWeight); + } + + if (positionWeight > 0f) { + ApplyPositionOffset(IKPosition - position, positionWeight); + } + + thighRelativeToPelvis = Quaternion.Inverse(rootRotation) * (thigh.solverPosition - rootPosition); + calfRelToThigh = Quaternion.Inverse(thigh.solverRotation) * calf.solverRotation; + thighRelToFoot = Quaternion.Inverse(lastBone.solverRotation) * thigh.solverRotation; + + // Calculate bend plane normal + if (useAnimatedBendNormal) + { + // This was used before version 1.8 + bendNormal = Vector3.Cross(calf.solverPosition - thigh.solverPosition, foot.solverPosition - calf.solverPosition); + } + else + { + if (bendToTargetWeight <= 0f) + { + bendNormal = rootRotation * bendNormalRelToPelvis; + } + else if (bendToTargetWeight >= 1f) + { + bendNormal = rotation * bendNormalRelToTarget; + } + else + { + bendNormal = Vector3.Slerp(rootRotation * bendNormalRelToPelvis, rotation * bendNormalRelToTarget, bendToTargetWeight); + } + } + + bendNormal = bendNormal.normalized; + } + + public override void ApplyOffsets(float scale) { + ApplyPositionOffset(footPositionOffset, 1f); + ApplyRotationOffset(footRotationOffset, 1f); + + // Heel position offset + Quaternion fromTo = Quaternion.FromToRotation(footPosition - position, footPosition + heelPositionOffset - position); + footPosition = position + fromTo * (footPosition - position); + footRotation = fromTo * footRotation; + + // Bend normal offset + float bAngle = 0f; + + if (bendGoal != null && bendGoalWeight > 0f) { + Vector3 b = Vector3.Cross(bendGoal.position - thigh.solverPosition, position - thigh.solverPosition); + Quaternion l = Quaternion.LookRotation(bendNormal, thigh.solverPosition - foot.solverPosition); + Vector3 bRelative = Quaternion.Inverse(l) * b; + bAngle = Mathf.Atan2(bRelative.x, bRelative.z) * Mathf.Rad2Deg * bendGoalWeight; + } + + float sO = swivelOffset + bAngle; + + if (sO != 0f) { + bendNormal = Quaternion.AngleAxis(sO, thigh.solverPosition - lastBone.solverPosition) * bendNormal; + thigh.solverRotation = Quaternion.AngleAxis(-sO, thigh.solverRotation * thigh.axis) * thigh.solverRotation; + } + } + + // Foot position offset + private void ApplyPositionOffset(Vector3 offset, float weight) { + if (weight <= 0f) return; + offset *= weight; + + // Foot position offset + footPosition += offset; + position += offset; + } + + // Foot rotation offset + private void ApplyRotationOffset(Quaternion offset, float weight) { + if (weight <= 0f) return; + if (weight < 1f) { + offset = Quaternion.Lerp(Quaternion.identity, offset, weight); + } + + footRotation = offset * footRotation; + rotation = offset * rotation; + bendNormal = offset * bendNormal; + footPosition = position + offset * (footPosition - position); + } + + public void Solve(bool stretch) { + if (stretch && LOD < 1) Stretching(); + + // Foot pass + VirtualBone.SolveTrigonometric(bones, 0, 1, 2, footPosition, bendNormal, 1f); + + // Rotate foot back to where it was before the last solving + RotateTo(foot, footRotation); + + // Toes pass + if (!hasToes) + { + FixTwistRotations(); + return; + } + + Vector3 b = Vector3.Cross(foot.solverPosition - thigh.solverPosition, toes.solverPosition - foot.solverPosition).normalized; + + VirtualBone.SolveTrigonometric(bones, 0, 2, 3, position, b, 1f); + + // Fix thigh twist relative to target rotation + FixTwistRotations(); + + // Keep toe rotation fixed + toes.solverRotation = rotation; + } + + private void FixTwistRotations() + { + if (LOD < 1) + { + if (bendToTargetWeight > 0f) + { + // Fix thigh twist relative to target rotation + Quaternion thighRotation = rotation * thighRelToFoot; + Quaternion f = Quaternion.FromToRotation(thighRotation * thigh.axis, calf.solverPosition - thigh.solverPosition); + if (bendToTargetWeight < 1f) + { + thigh.solverRotation = Quaternion.Slerp(thigh.solverRotation, f * thighRotation, bendToTargetWeight); + } + else + { + thigh.solverRotation = f * thighRotation; + } + } + + // Fix calf twist relative to thigh + Quaternion calfRotation = thigh.solverRotation * calfRelToThigh; + Quaternion fromTo = Quaternion.FromToRotation(calfRotation * calf.axis, foot.solverPosition - calf.solverPosition); + calf.solverRotation = fromTo * calfRotation; + } + } + + private void Stretching() { + // Adjusting leg length + float legLength = thigh.length + calf.length; + Vector3 kneeAdd = Vector3.zero; + Vector3 footAdd = Vector3.zero; + + if (legLengthMlp != 1f) { + legLength *= legLengthMlp; + kneeAdd = (calf.solverPosition - thigh.solverPosition) * (legLengthMlp - 1f);// * positionWeight; + footAdd = (foot.solverPosition - calf.solverPosition) * (legLengthMlp - 1f);// * positionWeight; + calf.solverPosition += kneeAdd; + foot.solverPosition += kneeAdd + footAdd; + if (hasToes) toes.solverPosition += kneeAdd + footAdd; + } + + // Stretching + float distanceToTarget = Vector3.Distance(thigh.solverPosition, footPosition); + float stretchF = distanceToTarget / legLength; + + float m = stretchCurve.Evaluate(stretchF);// * positionWeight; mlp by positionWeight enables stretching only for foot trackers, but not for built-in or animated locomotion + + kneeAdd = (calf.solverPosition - thigh.solverPosition) * m; + footAdd = (foot.solverPosition - calf.solverPosition) * m; + + calf.solverPosition += kneeAdd; + foot.solverPosition += kneeAdd + footAdd; + if (hasToes) toes.solverPosition += kneeAdd + footAdd; + } + + public override void Write(ref Vector3[] solvedPositions, ref Quaternion[] solvedRotations) { + solvedRotations[index] = thigh.solverRotation; + solvedRotations[index + 1] = calf.solverRotation; + solvedRotations[index + 2] = foot.solverRotation; + + solvedPositions[index] = thigh.solverPosition; + solvedPositions[index + 1] = calf.solverPosition; + solvedPositions[index + 2] = foot.solverPosition; + + if (hasToes) { + solvedRotations[index + 3] = toes.solverRotation; + solvedPositions[index + 3] = toes.solverPosition; + } + } + + public override void ResetOffsets() { + footPositionOffset = Vector3.zero; + footRotationOffset = Quaternion.identity; + heelPositionOffset = Vector3.zero; + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs.meta new file mode 100644 index 00000000..11eb0f7c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLeg.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 4efd2428843f841ed90f8096223b612d +timeCreated: 1456910081 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs new file mode 100644 index 00000000..01b95cb6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs @@ -0,0 +1,61 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + public partial class IKSolverVR: IKSolver { + + [System.Serializable] + public partial class Locomotion { + + [System.Serializable] + public enum Mode + { + Procedural = 0, + Animated = 1, + } + + [Tooltip("Procedural (legacy) or animated locomotion.")] + /// + /// Procedural (legacy) or animated locomotion. + /// + public Mode mode; + + [Tooltip("Used for blending in/out of procedural/animated locomotion.")] + /// + /// Used for blending in/out of procedural/animated locomotion. + /// + [Range(0f, 1f)] + public float weight = 1f; + + public void Initiate(Animator animator, Vector3[] positions, Quaternion[] rotations, bool hasToes, float scale) { + + Initiate_Procedural(positions, rotations, hasToes, scale); + Initiate_Animated(animator, positions); + } + + public void Reset(Vector3[] positions, Quaternion[] rotations) { + Reset_Procedural(positions, rotations); + Reset_Animated(positions); + } + + public void Relax() + { + Relax_Procedural(); + } + + public void AddDeltaRotation(Quaternion delta, Vector3 pivot) { + AddDeltaRotation_Procedural(delta, pivot); + AddDeltaRotation_Animated(delta, pivot); + } + + public void AddDeltaPosition(Vector3 delta) { + AddDeltaPosition_Procedural(delta); + AddDeltaPosition_Animated(delta); + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs.meta new file mode 100644 index 00000000..8ab28202 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: bbfd367345246d0448c45f0b1566a323 +timeCreated: 1462272254 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs new file mode 100644 index 00000000..8164027e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs @@ -0,0 +1,345 @@ +using UnityEngine; + +namespace RootMotion.FinalIK +{ + public partial class IKSolverVR : IKSolver + { + public partial class Locomotion + { + [Tooltip("Start moving (horizontal distance to HMD + HMD velocity) threshold.")] + /// + /// Start moving (horizontal distance to HMD + HMD velocity) threshold. + /// + [ShowIf("mode", Mode.Animated)] + public float moveThreshold = 0.3f; + + // ANIMATION + [ShowLargeHeaderIf("Animation", "mode", Mode.Animated)] [SerializeField] byte animationHeader; + + [Tooltip("Minimum locomotion animation speed.")] + /// + /// Minimum locomotion animation speed. + /// + [ShowRangeIf(0.1f, 1f, "mode", Mode.Animated)] + public float minAnimationSpeed = 0.2f; + + [Tooltip("Maximum locomotion animation speed.")] + /// + /// Maximum locomotion animation speed. + /// + [ShowRangeIf(1f, 10f, "mode", Mode.Animated)] + public float maxAnimationSpeed = 3f; + + [Tooltip("Smoothing time for Vector3.SmoothDamping 'VRIK_Horizontal' and 'VRIK_Vertical' parameters. Larger values make animation smoother, but less responsive.")] + /// + /// Smoothing time for Vector3.SmoothDamping 'VRIK_Horizontal' and 'VRIK_Vertical' parameters. Larger values make animation smoother, but less responsive. + /// + [ShowRangeIf(0.05f, 0.2f, "mode", Mode.Animated)] + public float animationSmoothTime = 0.1f; + + [ShowLargeHeaderIf("Root Position", "mode", Mode.Animated)] [SerializeField] byte rootPositionHeader; + + [Tooltip("X and Z standing offset from the horizontal position of the HMD.")] + /// + /// X and Z standing offset from the horizontal position of the HMD. + /// + [ShowIf("mode", Mode.Animated)] + public Vector2 standOffset; + + [Tooltip("Lerp root towards the horizontal position of the HMD with this speed while moving.")] + /// + /// Lerp root towards the horizontal position of the HMD with this speed while moving. + /// + [ShowRangeIf(0f, 50f, "mode", Mode.Animated)] + public float rootLerpSpeedWhileMoving = 30f; + + [Tooltip("Lerp root towards the horizontal position of the HMD with this speed while in transition from locomotion to idle state.")] + /// + /// Lerp root towards the horizontal position of the HMD with this speed while in transition from locomotion to idle state. + /// + [ShowRangeIf(0f, 50f, "mode", Mode.Animated)] + public float rootLerpSpeedWhileStopping = 10f; + + [Tooltip("Lerp root towards the horizontal position of the HMD with this speed while turning on spot.")] + /// + /// Lerp root towards the horizontal position of the HMD with this speed while turning on spot. + /// + [ShowRangeIf(0f, 50f, "mode", Mode.Animated)] + public float rootLerpSpeedWhileTurning = 10f; + + [Tooltip("Max horizontal distance from the root to the HMD.")] + /// + /// Max horizontal distance from the root to the HMD. + /// + [ShowIf("mode", Mode.Animated)] + public float maxRootOffset = 0.5f; + + [ShowLargeHeaderIf("Root Rotation", "mode", Mode.Animated)] [SerializeField] byte rootRotationHeader; + + [Tooltip("Max root angle from head forward while moving (ik.solver.spine.maxRootAngle).")] + /// + /// Max root angle from head forward while moving (ik.solver.spine.maxRootAngle). + /// + [ShowRangeIf(0f, 180f, "mode", Mode.Animated)] + public float maxRootAngleMoving = 10f; + + [Tooltip("Max root angle from head forward while standing (ik.solver.spine.maxRootAngle.")] + /// + /// Max root angle from head forward while standing (ik.solver.spine.maxRootAngle. + /// + [ShowRangeIf(0f, 180f, "mode", Mode.Animated)] + public float maxRootAngleStanding = 90f; + + /// + /// Multiplies "VRIK_Horizontal" and "VRIK_Vertical" parameters. Larger values make steps longer and animation slower. + /// + [HideInInspector][SerializeField] public float stepLengthMlp = 1f; + + private Animator animator; + private Vector3 velocityLocal, velocityLocalV; + private Vector3 lastCorrection; + private Vector3 lastHeadTargetPos; + private Vector3 lastSpeedRootPos; + private Vector3 lastEndRootPos; + private float rootLerpSpeed, rootVelocityV; + private float animSpeed = 1f; + private float animSpeedV; + private float stopMoveTimer; + private float turn; + private float maxRootAngleV; + private float currentAnimationSmoothTime = 0.05f; + private bool isMoving; + private bool firstFrame = true; + + private static int VRIK_Horizontal; + private static int VRIK_Vertical; + private static int VRIK_IsMoving; + private static int VRIK_Speed; + private static int VRIK_Turn; + private static bool isHashed; + + public void Initiate_Animated(Animator animator, Vector3[] positions) + { + this.animator = animator; + + if (animator == null && mode == Mode.Animated) + { + Debug.LogError("VRIK is in Animated locomotion mode, but cannot find Animator on the VRIK root gameobject."); + } + + ResetParams(positions); + } + + private void ResetParams(Vector3[] positions) + { + lastHeadTargetPos = positions[5]; + lastSpeedRootPos = positions[0]; + lastEndRootPos = lastSpeedRootPos; + lastCorrection = Vector3.zero; + isMoving = false; + currentAnimationSmoothTime = 0.05f; + stopMoveTimer = 1f; + } + + public void Reset_Animated(Vector3[] positions) + { + ResetParams(positions); + + if (animator == null) return; + + if (!isHashed) + { + VRIK_Horizontal = Animator.StringToHash("VRIK_Horizontal"); + VRIK_Vertical = Animator.StringToHash("VRIK_Vertical"); + VRIK_IsMoving = Animator.StringToHash("VRIK_IsMoving"); + VRIK_Speed = Animator.StringToHash("VRIK_Speed"); + VRIK_Turn = Animator.StringToHash("VRIK_Turn"); + isHashed = true; + } + + if (!firstFrame) + { + animator.SetFloat(VRIK_Horizontal, 0f); + animator.SetFloat(VRIK_Vertical, 0f); + animator.SetBool(VRIK_IsMoving, false); + animator.SetFloat(VRIK_Speed, 1f); + animator.SetFloat(VRIK_Turn, 0f); + } + } + + private void AddDeltaRotation_Animated(Quaternion delta, Vector3 pivot) + { + Vector3 toLastEndRootPos = lastEndRootPos - pivot; + lastEndRootPos = pivot + delta * toLastEndRootPos; + + Vector3 toLastSpeedRootPos = lastSpeedRootPos - pivot; + lastSpeedRootPos = pivot + delta * toLastSpeedRootPos; + + Vector3 toLastHeadTargetPos = lastHeadTargetPos - pivot; + lastHeadTargetPos = pivot + delta * toLastHeadTargetPos; + } + + private void AddDeltaPosition_Animated(Vector3 delta) + { + lastEndRootPos += delta; + lastSpeedRootPos += delta; + lastHeadTargetPos += delta; + } + + private float lastVelLocalMag; + + public void Solve_Animated(IKSolverVR solver, float scale, float deltaTime) + { + if (animator == null) + { + Debug.LogError("VRIK cannot find Animator on the VRIK root gameobject.", solver.root); + return; + } + + if (deltaTime <= 0f) return; + + // Root up vector + Vector3 rootUp = solver.rootBone.solverRotation * Vector3.up; + + // Substract any motion from parent transforms + Vector3 externalDelta = solver.rootBone.solverPosition - lastEndRootPos; + externalDelta -= animator.deltaPosition; + + // Head target position + Vector3 headTargetPos = solver.spine.headPosition; + Vector3 standOffsetWorld = solver.rootBone.solverRotation * new Vector3(standOffset.x, 0f, standOffset.y) * scale; + headTargetPos += standOffsetWorld; + + if (firstFrame) + { + lastHeadTargetPos = headTargetPos; + + firstFrame = false; + } + + // Head target velocity + Vector3 headTargetVelocity = (headTargetPos - lastHeadTargetPos) / deltaTime; + lastHeadTargetPos = headTargetPos; + headTargetVelocity = V3Tools.Flatten(headTargetVelocity, rootUp); + + // Head target offset + Vector3 offset = headTargetPos - solver.rootBone.solverPosition; + offset -= externalDelta; + offset -= lastCorrection; + offset = V3Tools.Flatten(offset, rootUp); + + // Turning + Vector3 headForward = (solver.spine.IKRotationHead * solver.spine.anchorRelativeToHead) * Vector3.forward; + headForward.y = 0f; + Vector3 headForwardLocal = Quaternion.Inverse(solver.rootBone.solverRotation) * headForward; + float angle = Mathf.Atan2(headForwardLocal.x, headForwardLocal.z) * Mathf.Rad2Deg; + angle += solver.spine.rootHeadingOffset; + float turnTarget = angle / 90f; + bool isTurning = true; + if (Mathf.Abs(turnTarget) < 0.2f) + { + turnTarget = 0f; + isTurning = false; + } + + turn = Mathf.Lerp(turn, turnTarget, Time.deltaTime * 3f); + animator.SetFloat(VRIK_Turn, turn * 2f); + + // Local Velocity, animation smoothing + Vector3 velocityLocalTarget = Quaternion.Inverse(solver.readRotations[0]) * (headTargetVelocity + offset); + velocityLocalTarget *= weight * stepLengthMlp; + + float animationSmoothTimeTarget = isTurning && !isMoving ? 0.2f : animationSmoothTime; + currentAnimationSmoothTime = Mathf.Lerp(currentAnimationSmoothTime, animationSmoothTimeTarget, deltaTime * 20f); + + velocityLocal = Vector3.SmoothDamp(velocityLocal, velocityLocalTarget, ref velocityLocalV, currentAnimationSmoothTime, Mathf.Infinity, deltaTime); + float velLocalMag = velocityLocal.magnitude / stepLengthMlp; + + //animator.SetBool("VRIK_StartWithRightFoot", velocityLocal.x >= 0f); + animator.SetFloat(VRIK_Horizontal, velocityLocal.x / scale); + animator.SetFloat(VRIK_Vertical, velocityLocal.z / scale); + + // Is Moving + float m = moveThreshold * scale; + if (isMoving) m *= 0.9f; + bool isMovingRaw = velocityLocal.sqrMagnitude > m * m; + if (isMovingRaw) stopMoveTimer = 0f; + else stopMoveTimer += deltaTime; + isMoving = stopMoveTimer < 0.05f; + + // Max root angle + float maxRootAngleTarget = isMoving ? maxRootAngleMoving : maxRootAngleStanding; + solver.spine.maxRootAngle = Mathf.SmoothDamp(solver.spine.maxRootAngle, maxRootAngleTarget, ref maxRootAngleV, 0.2f, Mathf.Infinity, deltaTime); + + animator.SetBool(VRIK_IsMoving, isMoving); + + // Animation speed + Vector3 currentRootPos = solver.rootBone.solverPosition; + currentRootPos -= externalDelta; + currentRootPos -= lastCorrection; + + Vector3 rootVelocity = (currentRootPos - lastSpeedRootPos) / deltaTime; + lastSpeedRootPos = solver.rootBone.solverPosition; + float rootVelocityMag = rootVelocity.magnitude; + + float animSpeedTarget = minAnimationSpeed; + if (rootVelocityMag > 0f && isMovingRaw) + { + animSpeedTarget = animSpeed * (velLocalMag / rootVelocityMag); + } + animSpeedTarget = Mathf.Clamp(animSpeedTarget, minAnimationSpeed, maxAnimationSpeed); + animSpeed = Mathf.SmoothDamp(animSpeed, animSpeedTarget, ref animSpeedV, 0.05f, Mathf.Infinity, deltaTime); + animSpeed = Mathf.Lerp(1f, animSpeed, weight); + + animator.SetFloat(VRIK_Speed, animSpeed); + + // Is Stopping + AnimatorTransitionInfo transInfo = animator.GetAnimatorTransitionInfo(0); + bool isStopping = transInfo.IsUserName("VRIK_Stop"); + + // Root lerp speed + float rootLerpSpeedTarget = 0; + if (isMoving) rootLerpSpeedTarget = rootLerpSpeedWhileMoving; + if (isStopping) rootLerpSpeedTarget = rootLerpSpeedWhileStopping; + if (isTurning) rootLerpSpeedTarget = rootLerpSpeedWhileTurning; + + rootLerpSpeedTarget *= Mathf.Max(headTargetVelocity.magnitude, 0.2f); + rootLerpSpeed = Mathf.Lerp(rootLerpSpeed, rootLerpSpeedTarget, deltaTime * 20f); + + // Root lerp and limits + headTargetPos += V3Tools.ExtractVertical(solver.rootBone.solverPosition - headTargetPos, rootUp, 1f); + + if (maxRootOffset > 0f) + { + // Lerp towards head target position + Vector3 p = solver.rootBone.solverPosition; + + if (rootLerpSpeed > 0f) + { + solver.rootBone.solverPosition = Vector3.Lerp(solver.rootBone.solverPosition, headTargetPos, rootLerpSpeed * deltaTime * weight); + } + + lastCorrection = solver.rootBone.solverPosition - p; + + // Max offset + offset = headTargetPos - solver.rootBone.solverPosition; + offset = V3Tools.Flatten(offset, rootUp); + float offsetMag = offset.magnitude; + + if (offsetMag > maxRootOffset) + { + lastCorrection += (offset - (offset / offsetMag) * maxRootOffset) * weight; + solver.rootBone.solverPosition += lastCorrection; + } + } else + { + // Snap to head target position + lastCorrection = (headTargetPos - solver.rootBone.solverPosition) * weight; + solver.rootBone.solverPosition += lastCorrection; + } + + lastEndRootPos = solver.rootBone.solverPosition; + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs.meta new file mode 100644 index 00000000..81be3e10 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Animated.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: ff87fd8caf7c02d458e3280b027dfa18 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs new file mode 100644 index 00000000..2677b041 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs @@ -0,0 +1,475 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.Events; + +namespace RootMotion.FinalIK +{ + public partial class IKSolverVR : IKSolver + { + public partial class Locomotion + { + [Tooltip("Tries to maintain this distance between the legs.")] + /// + /// Tries to maintain this distance between the legs. + /// + [ShowIf("mode", Mode.Procedural)] + public float footDistance = 0.3f; + + [Tooltip("Makes a step only if step target position is at least this far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past the 'Angle Threshold'.")] + /// + /// Makes a step only if step target position is at least this far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past the 'Angle Threshold'. + /// + [ShowIf("mode", Mode.Procedural)] + public float stepThreshold = 0.4f; + + [Tooltip("Makes a step only if step target position is at least 'Step Threshold' far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past this value.")] + /// + /// Makes a step only if step target position is at least 'Step Threshold' far from the current footstep or the foot does not reach the current footstep anymore or footstep angle is past this value. + /// + [ShowIf("mode", Mode.Procedural)] + public float angleThreshold = 60f; + + [Tooltip("Multiplies angle of the center of mass - center of pressure vector. Larger value makes the character step sooner if losing balance.")] + /// + /// Multiplies angle of the center of mass - center of pressure vector. Larger value makes the character step sooner if losing balance. + /// + [ShowIf("mode", Mode.Procedural)] + public float comAngleMlp = 1f; + + [Tooltip("Maximum magnitude of head/hand target velocity used in prediction.")] + /// + /// Maximum magnitude of head/hand target velocity used in prediction. + /// + [ShowIf("mode", Mode.Procedural)] + public float maxVelocity = 0.4f; + + [Tooltip("The amount of head/hand target velocity prediction.")] + /// + /// The amount of head/hand target velocity prediction. + /// + [ShowIf("mode", Mode.Procedural)] + public float velocityFactor = 0.4f; + + [Tooltip("How much can a leg be extended before it is forced to step to another position? 1 means fully stretched.")] + /// + /// How much can a leg be extended before it is forced to step to another position? 1 means fully stretched. + /// + [ShowRangeIf(0.9f, 1f, "mode", Mode.Procedural)] + public float maxLegStretch = 1f; + + [Tooltip("The speed of lerping the root of the character towards the horizontal mid-point of the footsteps.")] + /// + /// The speed of lerping the root of the character towards the horizontal mid-point of the footsteps. + /// + [ShowIf("mode", Mode.Procedural)] + public float rootSpeed = 20f; + + [Tooltip("The speed of moving a foot to the next position.")] + /// + /// The speed of moving a foot to the next position. + /// + [ShowIf("mode", Mode.Procedural)] + public float stepSpeed = 3f; + + [Tooltip("The height of the foot by normalized step progress (0 - 1).")] + /// + /// The height of the foot by normalized step progress (0 - 1). + /// + [ShowIf("mode", Mode.Procedural)] + public AnimationCurve stepHeight; + + [Tooltip("Reduce this value if locomotion makes the head bob too much.")] + /// + /// Reduce this value if locomotion makes the head bob too much. + /// + [ShowIf("mode", Mode.Procedural)] + public float maxBodyYOffset = 0.05f; + + [Tooltip("The height offset of the heel by normalized step progress (0 - 1).")] + /// + /// The height offset of the heel by normalized step progress (0 - 1). + /// + [ShowIf("mode", Mode.Procedural)] + public AnimationCurve heelHeight; + + [Tooltip("Rotates the foot while the leg is not stepping to relax the twist rotation of the leg if ideal rotation is past this angle.")] + /// + /// Rotates the foot while the leg is not stepping to relax the twist rotation of the leg if ideal rotation is past this angle. + /// + [ShowRangeIf(0f, 180f, "mode", Mode.Procedural)] + public float relaxLegTwistMinAngle = 20f; + + [Tooltip("The speed of rotating the foot while the leg is not stepping to relax the twist rotation of the leg.")] + /// + /// The speed of rotating the foot while the leg is not stepping to relax the twist rotation of the leg. + /// + [ShowIf("mode", Mode.Procedural)] + public float relaxLegTwistSpeed = 400f; + + [Tooltip("Interpolation mode of the step.")] + /// + /// Interpolation mode of the step. + /// + [ShowIf("mode", Mode.Procedural)] + public InterpolationMode stepInterpolation = InterpolationMode.InOutSine; + + [Tooltip("Offset for the approximated center of mass.")] + /// + /// Offset for the approximated center of mass. + /// + [ShowIf("mode", Mode.Procedural)] + public Vector3 offset; + + [HideInInspector] public bool blockingEnabled; + [HideInInspector] public LayerMask blockingLayers; + [HideInInspector] public float raycastRadius = 0.2f; + [HideInInspector] public float raycastHeight = 0.2f; + + //[Tooltip("Called when the left foot has finished a step.")] + /// + /// Called when the left foot has finished a step. + /// + [HideInInspector][SerializeField] public UnityEvent onLeftFootstep = new UnityEvent(); // Events hidden because of Unity custom property drawer problems with UnityEvents, can still access and add listeners via script. + + //[Tooltip("Called when the right foot has finished a step")] + /// + /// Called when the right foot has finished a step + /// + [HideInInspector] [SerializeField] public UnityEvent onRightFootstep = new UnityEvent(); // Events hidden because of Unity custom property drawer problems with UnityEvents, can still access and add listeners via script. + + /// + /// Gets the approximated center of mass. + /// + public Vector3 centerOfMass { get; private set; } + + private Footstep[] footsteps = new Footstep[0]; + private Vector3 lastComPosition; + private Vector3 comVelocity; + private int leftFootIndex; + private int rightFootIndex; + + private void Initiate_Procedural(Vector3[] positions, Quaternion[] rotations, bool hasToes, float scale) + { + leftFootIndex = hasToes ? 17 : 16; + rightFootIndex = hasToes ? 21 : 20; + + footsteps = new Footstep[2] { + new Footstep(rotations[0], positions[leftFootIndex], rotations[leftFootIndex], footDistance * scale * Vector3.left), + new Footstep(rotations[0], positions[rightFootIndex], rotations[rightFootIndex], footDistance * scale * Vector3.right) + }; + } + + private void Reset_Procedural(Vector3[] positions, Quaternion[] rotations) + { + lastComPosition = Vector3.Lerp(positions[1], positions[5], 0.25f) + rotations[0] * offset; + comVelocity = Vector3.zero; + + footsteps[0].Reset(rotations[0], positions[leftFootIndex], rotations[leftFootIndex]); + footsteps[1].Reset(rotations[0], positions[rightFootIndex], rotations[rightFootIndex]); + } + + private void Relax_Procedural() + { + footsteps[0].relaxFlag = true; + footsteps[1].relaxFlag = true; + } + + private void AddDeltaRotation_Procedural(Quaternion delta, Vector3 pivot) + { + Vector3 toLastComPosition = lastComPosition - pivot; + lastComPosition = pivot + delta * toLastComPosition; + + foreach (Footstep f in footsteps) + { + f.rotation = delta * f.rotation; + f.stepFromRot = delta * f.stepFromRot; + f.stepToRot = delta * f.stepToRot; + f.stepToRootRot = delta * f.stepToRootRot; + + Vector3 toF = f.position - pivot; + f.position = pivot + delta * toF; + + Vector3 toStepFrom = f.stepFrom - pivot; + f.stepFrom = pivot + delta * toStepFrom; + + Vector3 toStepTo = f.stepTo - pivot; + f.stepTo = pivot + delta * toStepTo; + } + } + + private void AddDeltaPosition_Procedural(Vector3 delta) + { + lastComPosition += delta; + + foreach (Footstep f in footsteps) + { + f.position += delta; + f.stepFrom += delta; + f.stepTo += delta; + } + } + + public void Solve_Procedural(VirtualBone rootBone, Spine spine, Leg leftLeg, Leg rightLeg, Arm leftArm, Arm rightArm, int supportLegIndex, out Vector3 leftFootPosition, out Vector3 rightFootPosition, out Quaternion leftFootRotation, out Quaternion rightFootRotation, out float leftFootOffset, out float rightFootOffset, out float leftHeelOffset, out float rightHeelOffset, float scale, float deltaTime) + { + if (weight <= 0f || deltaTime <= 0f) + { + leftFootPosition = Vector3.zero; + rightFootPosition = Vector3.zero; + leftFootRotation = Quaternion.identity; + rightFootRotation = Quaternion.identity; + leftFootOffset = 0f; + rightFootOffset = 0f; + leftHeelOffset = 0f; + rightHeelOffset = 0f; + return; + } + + Vector3 rootUp = rootBone.solverRotation * Vector3.up; + + Vector3 leftThighPosition = spine.pelvis.solverPosition + spine.pelvis.solverRotation * leftLeg.thighRelativeToPelvis; + Vector3 rightThighPosition = spine.pelvis.solverPosition + spine.pelvis.solverRotation * rightLeg.thighRelativeToPelvis; + + footsteps[0].characterSpaceOffset = footDistance * Vector3.left * scale; + footsteps[1].characterSpaceOffset = footDistance * Vector3.right * scale; + + Vector3 forward = spine.faceDirection; + Vector3 forwardY = V3Tools.ExtractVertical(forward, rootUp, 1f); + forward -= forwardY; + Quaternion forwardRotation = Quaternion.LookRotation(forward, rootUp); + if (spine.rootHeadingOffset != 0f) forwardRotation = Quaternion.AngleAxis(spine.rootHeadingOffset, rootUp) * forwardRotation; + + //centerOfMass = Vector3.Lerp(spine.pelvis.solverPosition, spine.head.solverPosition, 0.25f) + rootBone.solverRotation * offset; + + float pelvisMass = 1f; + float headMass = 1f; + float armMass = 0.2f; + float totalMass = pelvisMass + headMass + 2f * armMass; + + centerOfMass = Vector3.zero; + centerOfMass += spine.pelvis.solverPosition * pelvisMass; + centerOfMass += spine.head.solverPosition * headMass; + centerOfMass += leftArm.position * armMass; + centerOfMass += rightArm.position * armMass; + centerOfMass /= totalMass; + + centerOfMass += rootBone.solverRotation * offset; + + comVelocity = deltaTime > 0f ? (centerOfMass - lastComPosition) / deltaTime : Vector3.zero; + lastComPosition = centerOfMass; + comVelocity = Vector3.ClampMagnitude(comVelocity, maxVelocity) * velocityFactor * scale; + Vector3 centerOfMassV = centerOfMass + comVelocity; + + Vector3 pelvisPositionGroundLevel = V3Tools.PointToPlane(spine.pelvis.solverPosition, rootBone.solverPosition, rootUp); + Vector3 centerOfMassVGroundLevel = V3Tools.PointToPlane(centerOfMassV, rootBone.solverPosition, rootUp); + + Vector3 centerOfPressure = Vector3.Lerp(footsteps[0].position, footsteps[1].position, 0.5f); + + Vector3 comDir = centerOfMassV - centerOfPressure; + float comAngle = Vector3.Angle(comDir, rootBone.solverRotation * Vector3.up) * comAngleMlp; + + // Set support leg + for (int i = 0; i < footsteps.Length; i++) + { + footsteps[i].isSupportLeg = supportLegIndex == i; + } + + // Update stepTo while stepping + for (int i = 0; i < footsteps.Length; i++) + { + + if (footsteps[i].isStepping) + { + Vector3 stepTo = centerOfMassVGroundLevel + rootBone.solverRotation * footsteps[i].characterSpaceOffset; + + if (!StepBlocked(footsteps[i].stepFrom, stepTo, rootBone.solverPosition)) + { + footsteps[i].UpdateStepping(stepTo, forwardRotation, 10f, deltaTime); + } + } + else + { + footsteps[i].UpdateStanding(forwardRotation, relaxLegTwistMinAngle, relaxLegTwistSpeed, deltaTime); + } + } + + // Triggering new footsteps + if (CanStep()) + { + int stepLegIndex = -1; + float bestValue = -Mathf.Infinity; + + for (int i = 0; i < footsteps.Length; i++) + { + if (!footsteps[i].isStepping) + { + Vector3 stepTo = centerOfMassVGroundLevel + rootBone.solverRotation * footsteps[i].characterSpaceOffset; + + float legLength = i == 0 ? leftLeg.mag : rightLeg.mag; + Vector3 thighPos = i == 0 ? leftThighPosition : rightThighPosition; + + float thighDistance = Vector3.Distance(footsteps[i].position, thighPos); + + bool lengthStep = false; + if (thighDistance >= legLength * maxLegStretch) + {// * 0.95f) { + stepTo = pelvisPositionGroundLevel + rootBone.solverRotation * footsteps[i].characterSpaceOffset; + lengthStep = true; + } + + bool collision = false; + for (int n = 0; n < footsteps.Length; n++) + { + if (n != i && !lengthStep) + { + if (Vector3.Distance(footsteps[i].position, footsteps[n].position) < 0.25f * scale && (footsteps[i].position - stepTo).sqrMagnitude < (footsteps[n].position - stepTo).sqrMagnitude) + { + } + else collision = GetLineSphereCollision(footsteps[i].position, stepTo, footsteps[n].position, 0.25f * scale); + if (collision) break; + } + } + + float angle = Quaternion.Angle(forwardRotation, footsteps[i].stepToRootRot); + + if (!collision || angle > angleThreshold) + { + float stepDistance = Vector3.Distance(footsteps[i].position, stepTo); + float t = stepThreshold * scale; + if (footsteps[i].relaxFlag) t = 0f; + + float sT = Mathf.Lerp(t, t * 0.1f, comAngle * 0.015f); + if (lengthStep) sT *= 0.5f; + if (i == 0) sT *= 0.9f; + + if (!StepBlocked(footsteps[i].position, stepTo, rootBone.solverPosition)) + { + if (stepDistance > sT || angle > angleThreshold) + { + float value = 0f; + + value -= stepDistance; + + if (value > bestValue) + { + stepLegIndex = i; + bestValue = value; + } + } + } + } + } + + } + + if (stepLegIndex != -1) + { + Vector3 stepTo = centerOfMassVGroundLevel + rootBone.solverRotation * footsteps[stepLegIndex].characterSpaceOffset; + footsteps[stepLegIndex].stepSpeed = UnityEngine.Random.Range(stepSpeed, stepSpeed * 1.5f); + footsteps[stepLegIndex].StepTo(stepTo, forwardRotation, stepThreshold * scale); + } + } + + footsteps[0].Update(stepInterpolation, onLeftFootstep, deltaTime); + footsteps[1].Update(stepInterpolation, onRightFootstep, deltaTime); + + leftFootPosition = footsteps[0].position; + rightFootPosition = footsteps[1].position; + + leftFootPosition = V3Tools.PointToPlane(leftFootPosition, leftLeg.lastBone.readPosition, rootUp); + rightFootPosition = V3Tools.PointToPlane(rightFootPosition, rightLeg.lastBone.readPosition, rootUp); + + leftFootOffset = stepHeight.Evaluate(footsteps[0].stepProgress) * scale; + rightFootOffset = stepHeight.Evaluate(footsteps[1].stepProgress) * scale; + + leftHeelOffset = heelHeight.Evaluate(footsteps[0].stepProgress) * scale; + rightHeelOffset = heelHeight.Evaluate(footsteps[1].stepProgress) * scale; + + leftFootRotation = footsteps[0].rotation; + rightFootRotation = footsteps[1].rotation; + } + + public Vector3 leftFootstepPosition + { + get + { + return footsteps[0].position; + } + } + + public Vector3 rightFootstepPosition + { + get + { + return footsteps[1].position; + } + } + + public Quaternion leftFootstepRotation + { + get + { + return footsteps[0].rotation; + } + } + + public Quaternion rightFootstepRotation + { + get + { + return footsteps[1].rotation; + } + } + + private bool StepBlocked(Vector3 fromPosition, Vector3 toPosition, Vector3 rootPosition) + { + if (blockingLayers == -1 || !blockingEnabled) return false; + + Vector3 origin = fromPosition; + origin.y = rootPosition.y + raycastHeight + raycastRadius; + + Vector3 direction = toPosition - origin; + direction.y = 0f; + + RaycastHit hit; + + if (raycastRadius <= 0f) + { + return Physics.Raycast(origin, direction, out hit, direction.magnitude, blockingLayers); + } + else + { + return Physics.SphereCast(origin, raycastRadius, direction, out hit, direction.magnitude, blockingLayers); + } + } + + private bool CanStep() + { + foreach (Footstep f in footsteps) if (f.isStepping && f.stepProgress < 0.8f) return false; + + return true; + } + + private static bool GetLineSphereCollision(Vector3 lineStart, Vector3 lineEnd, Vector3 sphereCenter, float sphereRadius) + { + Vector3 line = lineEnd - lineStart; + Vector3 toSphere = sphereCenter - lineStart; + float distToSphereCenter = toSphere.magnitude; + float d = distToSphereCenter - sphereRadius; + + if (d > line.magnitude) return false; + + Quaternion q = Quaternion.LookRotation(line, toSphere); + + Vector3 toSphereRotated = Quaternion.Inverse(q) * toSphere; + + if (toSphereRotated.z < 0f) + { + return d < 0f; + } + + return toSphereRotated.y - sphereRadius < 0f; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs.meta new file mode 100644 index 00000000..82aaf8e7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRLocomotion_Procedural.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 6d7aae105196f6743b27fef9c63a5ec0 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs new file mode 100644 index 00000000..7da1ec28 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs @@ -0,0 +1,728 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; +using UnityEngine.Serialization; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + public partial class IKSolverVR: IKSolver { + + /// + /// Spine solver for IKSolverVR. + /// + [System.Serializable] + public class Spine: BodyPart { + + [LargeHeader("Head")] + + [Tooltip("The head target. This should not be the camera Transform itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the head bone. The best practice for setup would be to move the camera to the avatar's eyes, duplicate the avatar's head bone and parent it to the camera. Then assign the duplicate to this slot.")] + /// + /// The head target. This should not be the camera Transform itself, but a child GameObject parented to it so you could adjust its position/rotation to match the orientation of the head bone. The best practice for setup would be to move the camera to the avatar's eyes, duplicate the avatar's head bone and parent it to the camera. Then assign the duplicate to this slot. + /// + public Transform headTarget; + + [Tooltip("Positional weight of the head target. Note that if you have nulled the headTarget, the head will still be pulled to the last position of the headTarget until you set this value to 0.")] + /// + /// Positional weight of the head target. Note that if you have nulled the headTarget, the head will still be pulled to the last position of the headTarget until you set this value to 0. + /// + [Range(0f, 1f)] public float positionWeight = 1f; + + [Tooltip("Rotational weight of the head target. Note that if you have nulled the headTarget, the head will still be rotated to the last rotation of the headTarget until you set this value to 0.")] + /// + /// Rotational weight of the head target. Note that if you have nulled the headTarget, the head will still be rotated to the last rotation of the headTarget until you set this value to 0. + /// + [Range(0f, 1f)] public float rotationWeight = 1f; + + [Tooltip("Clamps head rotation. Value of 0.5 allows 90 degrees of rotation for the head relative to the headTarget. Value of 0 allows 180 degrees and value of 1 means head rotation will be locked to the target.")] + /// + /// Clamps head rotation. Value of 0.5 allows 90 degrees of rotation for the head relative to the headTarget. Value of 0 allows 180 degrees and value of 1 means head rotation will be locked to the target. + /// + [Range(0f, 1f)] public float headClampWeight = 0.6f; + + [Tooltip("Minimum height of the head from the root of the character.")] + /// + /// Minimum height of the head from the root of the character. + /// + public float minHeadHeight = 0.8f; + + [Tooltip("Allows for more natural locomotion animation for 3rd person networked avatars by inheriting vertical head bob motion from the animation while head target height is close to head bone height.")] + /// + /// Allows for more natural locomotion animation for 3rd person networked avatars by inheriting vertical head bob motion from the animation while head target height is close to head bone height. + /// + [Range(0f, 1f)] public float useAnimatedHeadHeightWeight; + + [Tooltip("If abs(head target height - head bone height) < this value, will use head bone height as head target Y.")] + /// + /// If abs(head target height - head bone height) < this value, will use head bone height as head target Y. + /// + [ShowIf("useAnimatedHeadHeightWeight", 0f, Mathf.Infinity)] + public float useAnimatedHeadHeightRange = 0.1f; + + [Tooltip("Falloff range for the 'Use Animated Head Height Range' effect above. If head target height from head bone height is greater than useAnimatedHeadHeightRange + animatedHeadHeightBlend, then the head will be vertically locked to the head target again.")] + /// + /// Falloff range for the 'Use Animated Head Height Range' effect above. If head target height from head bone height is greater than useAnimatedHeadHeightRange + animatedHeadHeightBlend, then the head will be vertically locked to the head target again. + /// + [ShowIf("useAnimatedHeadHeightWeight", 0f, Mathf.Infinity)] + public float animatedHeadHeightBlend = 0.3f; + + [LargeHeader("Pelvis")] + + [Tooltip("The pelvis target (optional), useful for seated rigs or if you had an additional tracker on the backpack or belt are. The best practice for setup would be to duplicate the avatar's pelvis bone and parenting it to the pelvis tracker. Then assign the duplicate to this slot.")] + /// + /// The pelvis target (optional), useful for seated rigs or if you had an additional tracker on the backpack or belt are. The best practice for setup would be to duplicate the avatar's pelvis bone and parenting it to the pelvis tracker. Then assign the duplicate to this slot. + /// + public Transform pelvisTarget; + + [Tooltip("Positional weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be pulled to the last position of the pelvisTarget until you set this value to 0.")] + /// + /// Positional weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be pulled to the last position of the pelvisTarget until you set this value to 0. + /// + [Range(0f, 1f)] public float pelvisPositionWeight; + + [Tooltip("Rotational weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be rotated to the last rotation of the pelvisTarget until you set this value to 0.")] + /// + /// Rotational weight of the pelvis target. Note that if you have nulled the pelvisTarget, the pelvis will still be rotated to the last rotation of the pelvisTarget until you set this value to 0. + /// + [Range(0f, 1f)] public float pelvisRotationWeight; + + [Tooltip("How much will the pelvis maintain its animated position?")] + /// + /// How much will the pelvis maintain its animated position? + /// + [Range(0f, 1f)] public float maintainPelvisPosition = 0.2f; + + [LargeHeader("Chest")] + + [Tooltip("If 'Chest Goal Weight' is greater than 0, the chest will be turned towards this Transform.")] + /// + /// If chestGoalWeight is greater than 0, the chest will be turned towards this Transform. + /// + public Transform chestGoal; + + [Tooltip("Weight of turning the chest towards the 'Chest Goal'.")] + /// + /// Weight of turning the chest towards the chestGoal. + /// + [Range(0f, 1f)] public float chestGoalWeight; + + [Tooltip("Clamps chest rotation. Value of 0.5 allows 90 degrees of rotation for the chest relative to the head. Value of 0 allows 180 degrees and value of 1 means the chest will be locked relative to the head.")] + /// + /// Clamps chest rotation. Value of 0.5 allows 90 degrees of rotation for the chest relative to the head. Value of 0 allows 180 degrees and value of 1 means the chest will be locked relative to the head. + /// + [Range(0f, 1f)] public float chestClampWeight = 0.5f; + + [Tooltip("The amount of rotation applied to the chest based on hand positions.")] + /// + /// The amount of rotation applied to the chest based on hand positions. + /// + [Range(0f, 1f)] public float rotateChestByHands = 1f; + + [LargeHeader("Spine")] + + [Tooltip("Determines how much the body will follow the position of the head.")] + /// + /// Determines how much the body will follow the position of the head. + /// + [Range(0f, 1f)] public float bodyPosStiffness = 0.55f; + + [Tooltip("Determines how much the body will follow the rotation of the head.")] + /// + /// Determines how much the body will follow the rotation of the head. + /// + [Range(0f, 1f)] public float bodyRotStiffness = 0.1f; + + [Tooltip("Determines how much the chest will rotate to the rotation of the head.")] + /// + /// Determines how much the chest will rotate to the rotation of the head. + /// + [FormerlySerializedAs("chestRotationWeight")] + [Range(0f, 1f)] public float neckStiffness = 0.2f; + + [Tooltip("Moves the body horizontally along -character.forward axis by that value when the player is crouching.")] + /// + /// Moves the body horizontally along -character.forward axis by that value when the player is crouching. + /// + public float moveBodyBackWhenCrouching = 0.5f; + + [LargeHeader("Root Rotation")] + + [Tooltip("Will automatically rotate the root of the character if the head target has turned past this angle.")] + /// + /// Will automatically rotate the root of the character if the head target has turned past this angle. + /// + [Range(0f, 180f)] public float maxRootAngle = 25f; + + [Tooltip("Angular offset for root heading. Adjust this value to turn the root relative to the HMD around the vertical axis. Usefulf for fighting or shooting games where you would sometimes want the avatar to stand at an angled stance.")] + /// + /// Angular offset for root heading. Adjust this value to turn the root relative to the HMD around the vertical axis. Usefulf for fighting or shooting games where you would sometimes want the avatar to stand at an angled stance. + /// + [Range(-180f, 180f)] public float rootHeadingOffset; + + /// + /// Target position of the head. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Vector3 IKPositionHead; + + /// + /// Target rotation of the head. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Quaternion IKRotationHead = Quaternion.identity; + + /// + /// Target position of the pelvis. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Vector3 IKPositionPelvis; + + /// + /// Target rotation of the pelvis. Will be overwritten if target is assigned. + /// + [NonSerialized][HideInInspector] public Quaternion IKRotationPelvis = Quaternion.identity; + + /// + /// The goal position for the chest. If chestGoalWeight > 0, the chest will be turned towards this position. + /// + [NonSerialized][HideInInspector] public Vector3 goalPositionChest; + + /// + /// Position offset of the pelvis. Will be applied on top of pelvis target position and reset to Vector3.zero after each update. + /// + [NonSerialized][HideInInspector] public Vector3 pelvisPositionOffset; + + /// + /// Position offset of the chest. Will be reset to Vector3.zero after each update. + /// + [NonSerialized][HideInInspector] public Vector3 chestPositionOffset; + + /// + /// Position offset of the head. Will be applied on top of head target position and reset to Vector3.zero after each update. + /// + [NonSerialized][HideInInspector] public Vector3 headPositionOffset; + + /// + /// Rotation offset of the pelvis. Will be reset to Quaternion.identity after each update. + /// + [NonSerialized][HideInInspector] public Quaternion pelvisRotationOffset = Quaternion.identity; + + /// + /// Rotation offset of the chest. Will be reset to Quaternion.identity after each update. + /// + [NonSerialized][HideInInspector] public Quaternion chestRotationOffset = Quaternion.identity; + + /// + /// Rotation offset of the head. Will be applied on top of head target rotation and reset to Quaternion.identity after each update. + /// + [NonSerialized][HideInInspector] public Quaternion headRotationOffset = Quaternion.identity; + + internal VirtualBone pelvis { get { return bones[pelvisIndex]; }} + internal VirtualBone firstSpineBone { get { return bones[spineIndex]; }} + internal VirtualBone chest { + get { + if (hasChest) return bones[chestIndex]; + return bones[spineIndex]; + } + } + internal VirtualBone head { get { return bones[headIndex]; } } + private VirtualBone neck { get { return bones[neckIndex]; }} + + + [NonSerialized][HideInInspector] public Vector3 faceDirection; + [NonSerialized][HideInInspector] internal Vector3 headPosition; + + internal Quaternion anchorRotation { get; private set; } + internal Quaternion anchorRelativeToHead { get; private set; } + + private Quaternion headRotation = Quaternion.identity; + private Quaternion pelvisRotation = Quaternion.identity; + private Quaternion anchorRelativeToPelvis = Quaternion.identity; + private Quaternion pelvisRelativeRotation = Quaternion.identity; + private Quaternion chestRelativeRotation = Quaternion.identity; + private Vector3 headDeltaPosition; + private Quaternion pelvisDeltaRotation = Quaternion.identity; + private Quaternion chestTargetRotation = Quaternion.identity; + private int pelvisIndex = 0, spineIndex = 1, chestIndex = -1, neckIndex = -1, headIndex = -1; + private float length; + private bool hasChest; + private bool hasNeck; + private bool hasLegs; + private float headHeight; + private float sizeMlp; + private Vector3 chestForward; + + protected override void OnRead(Vector3[] positions, Quaternion[] rotations, bool hasChest, bool hasNeck, bool hasShoulders, bool hasToes, bool hasLegs, int rootIndex, int index) { + Vector3 pelvisPos = positions[index]; + Quaternion pelvisRot = rotations[index]; + Vector3 spinePos = positions[index + 1]; + Quaternion spineRot = rotations[index + 1]; + Vector3 chestPos = positions[index + 2]; + Quaternion chestRot = rotations[index + 2]; + Vector3 neckPos = positions[index + 3]; + Quaternion neckRot = rotations[index + 3]; + Vector3 headPos = positions[index + 4]; + Quaternion headRot = rotations[index + 4]; + + this.hasLegs = hasLegs; + + if (!hasChest) { + chestPos = spinePos; + chestRot = spineRot; + } + + if (!initiated) { + this.hasChest = hasChest; + this.hasNeck = hasNeck; + headHeight = V3Tools.ExtractVertical(headPos - positions[0], rotations[0] * Vector3.up, 1f).magnitude; + + int boneCount = 3; + if (hasChest) boneCount++; + if (hasNeck) boneCount++; + bones = new VirtualBone[boneCount]; + + chestIndex = hasChest? 2: 1; + + neckIndex = 1; + if (hasChest) neckIndex++; + if (hasNeck) neckIndex++; + + headIndex = 2; + if (hasChest) headIndex++; + if (hasNeck) headIndex++; + + bones[0] = new VirtualBone(pelvisPos, pelvisRot); + bones[1] = new VirtualBone(spinePos, spineRot); + if (hasChest) bones[chestIndex] = new VirtualBone(chestPos, chestRot); + if (hasNeck) bones[neckIndex] = new VirtualBone(neckPos, neckRot); + bones[headIndex] = new VirtualBone(headPos, headRot); + + pelvisRotationOffset = Quaternion.identity; + chestRotationOffset = Quaternion.identity; + headRotationOffset = Quaternion.identity; + + anchorRelativeToHead = Quaternion.Inverse(headRot) * rotations[0]; + anchorRelativeToPelvis = Quaternion.Inverse(pelvisRot) * rotations[0]; + + faceDirection = rotations[0] * Vector3.forward; + + IKPositionHead = headPos; + IKRotationHead = headRot; + IKPositionPelvis = pelvisPos; + IKRotationPelvis = pelvisRot; + goalPositionChest = chestPos + rotations[0] * Vector3.forward; + } + + // Forward and up axes + pelvisRelativeRotation = Quaternion.Inverse(headRot) * pelvisRot; + chestRelativeRotation = Quaternion.Inverse(headRot) * chestRot; + + chestForward = Quaternion.Inverse(chestRot) * (rotations[0] * Vector3.forward); + + bones[0].Read(pelvisPos, pelvisRot); + bones[1].Read(spinePos, spineRot); + if (hasChest) bones[chestIndex].Read(chestPos, chestRot); + if (hasNeck) bones[neckIndex].Read(neckPos, neckRot); + bones[headIndex].Read(headPos, headRot); + + float spineLength = Vector3.Distance (pelvisPos, headPos); + sizeMlp = spineLength / 0.7f; + } + + public override void PreSolve(float scale) { + if (headTarget != null) { + IKPositionHead = headTarget.position; + IKRotationHead = headTarget.rotation; + } + + if (chestGoal != null) { + goalPositionChest = chestGoal.position; + } + + if (pelvisTarget != null) { + IKPositionPelvis = pelvisTarget.position; + IKRotationPelvis = pelvisTarget.rotation; + } + + // Use animated head height range + if (useAnimatedHeadHeightWeight > 0f && useAnimatedHeadHeightRange > 0f) + { + Vector3 rootUp = rootRotation * Vector3.up; + + if (animatedHeadHeightBlend > 0f) + { + float headTargetVOffset = V3Tools.ExtractVertical(IKPositionHead - head.solverPosition, rootUp, 1f).magnitude; + float abs = Mathf.Abs(headTargetVOffset); + abs = Mathf.Max(abs - useAnimatedHeadHeightRange * scale, 0f); + float f = Mathf.Lerp(0f, 1f, abs / (animatedHeadHeightBlend * scale)); + f = Interp.Float(1f - f, InterpolationMode.InOutSine); + + Vector3 toHeadPos = head.solverPosition - IKPositionHead; + IKPositionHead += V3Tools.ExtractVertical(toHeadPos, rootUp, f * useAnimatedHeadHeightWeight); + } + else + { + IKPositionHead += V3Tools.ExtractVertical(head.solverPosition - IKPositionHead, rootUp, useAnimatedHeadHeightWeight); + } + } + + headPosition = V3Tools.Lerp(head.solverPosition, IKPositionHead, positionWeight); + headRotation = QuaTools.Lerp(head.solverRotation, IKRotationHead, rotationWeight); + + pelvisRotation = QuaTools.Lerp(pelvis.solverRotation, IKRotationPelvis, rotationWeight); + } + + public override void ApplyOffsets(float scale) { + headPosition += headPositionOffset; + + float mHH = minHeadHeight * scale; + + Vector3 rootUp = rootRotation * Vector3.up; + if (rootUp == Vector3.up) { + headPosition.y = Math.Max(rootPosition.y + mHH, headPosition.y); + } else { + Vector3 toHead = headPosition - rootPosition; + Vector3 hor = V3Tools.ExtractHorizontal(toHead, rootUp, 1f); + Vector3 ver = toHead - hor; + float dot = Vector3.Dot(ver, rootUp); + if (dot > 0f) { + if (ver.magnitude < mHH) ver = ver.normalized * mHH; + } else { + ver = -ver.normalized * mHH; + } + + headPosition = rootPosition + hor + ver; + } + + headRotation = headRotationOffset * headRotation; + + headDeltaPosition = headPosition - head.solverPosition; + pelvisDeltaRotation = QuaTools.FromToRotation(pelvis.solverRotation, headRotation * pelvisRelativeRotation); + + if (pelvisRotationWeight <= 0f) anchorRotation = headRotation * anchorRelativeToHead; + else if (pelvisRotationWeight > 0f && pelvisRotationWeight < 1f) anchorRotation = Quaternion.Lerp(headRotation * anchorRelativeToHead, pelvisRotation * anchorRelativeToPelvis, pelvisRotationWeight); + else if (pelvisRotationWeight >= 1f) anchorRotation = pelvisRotation * anchorRelativeToPelvis; + } + + private void CalculateChestTargetRotation(VirtualBone rootBone, Arm[] arms) { + chestTargetRotation = headRotation * chestRelativeRotation; + + // Use hands to adjust c + if (arms[0] != null) AdjustChestByHands(ref chestTargetRotation, arms); + + faceDirection = Vector3.Cross(anchorRotation * Vector3.right, rootBone.readRotation * Vector3.up) + anchorRotation * Vector3.forward; + } + + public void Solve(Animator animator, VirtualBone rootBone, Leg[] legs, Arm[] arms, float scale) { + CalculateChestTargetRotation(rootBone, arms); + + // Root rotation + if (maxRootAngle < 180f) + { + Vector3 f = faceDirection; + if (rootHeadingOffset != 0f) f = Quaternion.AngleAxis(rootHeadingOffset, Vector3.up) * f; + Vector3 faceDirLocal = Quaternion.Inverse(rootBone.solverRotation) * f; + float angle = Mathf.Atan2(faceDirLocal.x, faceDirLocal.z) * Mathf.Rad2Deg; + + float rotation = 0f; + float maxAngle = maxRootAngle; + + if (angle > maxAngle) + { + rotation = angle - maxAngle; + } + if (angle < -maxAngle) + { + rotation = angle + maxAngle; + } + + Quaternion fix = Quaternion.AngleAxis(rotation, rootBone.readRotation * Vector3.up); + + if (animator != null && animator.enabled) + { + // Rotate root around animator.pivotPosition + Vector3 pivot = animator.applyRootMotion? animator.pivotPosition: animator.transform.position; + Vector3 dir = rootBone.solverPosition - pivot; + rootBone.solverPosition = pivot + fix * dir; + } + + // Rotate root + rootBone.solverRotation = fix * rootBone.solverRotation; + } + + Vector3 animatedPelvisPos = pelvis.solverPosition; + Vector3 rootUp = rootBone.solverRotation * Vector3.up; + + // Translate pelvis to make the head's position & rotation match with the head target + TranslatePelvis(legs, headDeltaPosition, pelvisDeltaRotation, scale); + + FABRIKPass(animatedPelvisPos, rootUp, positionWeight); + + // Bend the spine to look towards chest target rotation + Bend(bones, pelvisIndex, chestIndex, chestTargetRotation, chestRotationOffset, chestClampWeight, false, neckStiffness * rotationWeight); + + if (LOD < 1 && chestGoalWeight > 0f) { + Quaternion c = Quaternion.FromToRotation(bones[chestIndex].solverRotation * chestForward, goalPositionChest - bones[chestIndex].solverPosition) * bones[chestIndex].solverRotation; + Bend(bones, pelvisIndex, chestIndex, c, chestRotationOffset, chestClampWeight, false, chestGoalWeight * rotationWeight); + } + + InverseTranslateToHead(legs, false, false, Vector3.zero, positionWeight); + + if (LOD < 1) FABRIKPass(animatedPelvisPos, rootUp, positionWeight); + + Bend(bones, neckIndex, headIndex, headRotation, headClampWeight, true, rotationWeight); + + SolvePelvis (); + } + + private void FABRIKPass(Vector3 animatedPelvisPos, Vector3 rootUp, float weight) { + Vector3 startPos = Vector3.Lerp(pelvis.solverPosition, animatedPelvisPos, maintainPelvisPosition) + pelvisPositionOffset;// - chestPositionOffset; + Vector3 endPos = headPosition - chestPositionOffset; + //Vector3 startOffset = rootUp * (bones[bones.Length - 1].solverPosition - bones[0].solverPosition).magnitude; + Vector3 startOffset = Vector3.zero;// (bones[bones.Length - 1].solverPosition - bones[0].solverPosition) * weight; + + float dist = Vector3.Distance(bones[0].solverPosition, bones[bones.Length - 1].solverPosition); + + VirtualBone.SolveFABRIK(bones, startPos, endPos, weight, 1f, 1, dist, startOffset); + } + + private void SolvePelvis() { + // Pelvis target + if (pelvisPositionWeight > 0f) + { + Quaternion headSolverRotation = head.solverRotation; + + Vector3 delta = ((IKPositionPelvis + pelvisPositionOffset) - pelvis.solverPosition) * pelvisPositionWeight; + foreach (VirtualBone bone in bones) bone.solverPosition += delta; + + Vector3 bendNormal = anchorRotation * Vector3.right; + + if (hasChest && hasNeck) + { + VirtualBone.SolveTrigonometric(bones, spineIndex, chestIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 0.9f); + VirtualBone.SolveTrigonometric(bones, chestIndex, neckIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight); + + } + else if (hasChest && !hasNeck) + { + VirtualBone.SolveTrigonometric(bones, spineIndex, chestIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight); + } + else if (!hasChest && hasNeck) + { + VirtualBone.SolveTrigonometric(bones, spineIndex, neckIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight); + } + else if (!hasNeck && !hasChest) + { + VirtualBone.SolveTrigonometric(bones, pelvisIndex, spineIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight); + } + + head.solverRotation = headSolverRotation; + } + + /* FIK v 1.9 - pelvis rotation to pelvis target was not working right + // Pelvis target + if (pelvisPositionWeight > 0f) { + Quaternion headSolverRotation = head.solverRotation; + + Vector3 delta = ((IKPositionPelvis + pelvisPositionOffset) - pelvis.solverPosition) * pelvisPositionWeight; + foreach (VirtualBone bone in bones) bone.solverPosition += delta; + + Vector3 bendNormal = anchorRotation * Vector3.right; + + if (hasChest && hasNeck) { + VirtualBone.SolveTrigonometric(bones, pelvisIndex, spineIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 0.6f); + VirtualBone.SolveTrigonometric(bones, pelvisIndex, chestIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 0.6f); + VirtualBone.SolveTrigonometric(bones, pelvisIndex, neckIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 1f); + } else if (hasChest && !hasNeck) { + VirtualBone.SolveTrigonometric(bones, pelvisIndex, spineIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 0.75f); + VirtualBone.SolveTrigonometric(bones, pelvisIndex, chestIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 1f); + } + else if (!hasChest && hasNeck) { + VirtualBone.SolveTrigonometric(bones, pelvisIndex, spineIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 0.75f); + VirtualBone.SolveTrigonometric(bones, pelvisIndex, neckIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight * 1f); + } else if (!hasNeck && !hasChest) { + VirtualBone.SolveTrigonometric(bones, pelvisIndex, spineIndex, headIndex, headPosition, bendNormal, pelvisPositionWeight); + } + + head.solverRotation = headSolverRotation; + } + */ + } + + public override void Write(ref Vector3[] solvedPositions, ref Quaternion[] solvedRotations) { + // Pelvis + solvedPositions[index] = bones[0].solverPosition; + solvedRotations[index] = bones[0].solverRotation; + + // Spine + solvedRotations[index + 1] = bones[1].solverRotation; + + // Chest + if (hasChest) solvedRotations[index + 2] = bones[chestIndex].solverRotation; + + // Neck + if (hasNeck) solvedRotations[index + 3] = bones[neckIndex].solverRotation; + + // Head + solvedRotations[index + 4] = bones[headIndex].solverRotation; + } + + public override void ResetOffsets() { + // Reset offsets to zero + pelvisPositionOffset = Vector3.zero; + chestPositionOffset = Vector3.zero; + headPositionOffset = Vector3.zero; + pelvisRotationOffset = Quaternion.identity; + chestRotationOffset = Quaternion.identity; + headRotationOffset = Quaternion.identity; + } + + private void AdjustChestByHands(ref Quaternion chestTargetRotation, Arm[] arms) { + if (LOD > 0) return; + + Quaternion h = Quaternion.Inverse(anchorRotation); + + Vector3 pLeft = h * (arms[0].position - headPosition) / sizeMlp; + Vector3 pRight = h * (arms[1].position - headPosition) / sizeMlp; + + Vector3 c = Vector3.forward; + c.x += pLeft.x * Mathf.Abs(pLeft.x); + c.x += pLeft.z * Mathf.Abs(pLeft.z); + c.x += pRight.x * Mathf.Abs(pRight.x); + c.x -= pRight.z * Mathf.Abs(pRight.z); + c.x *= 5f * rotateChestByHands; + + float angle = Mathf.Atan2(c.x, c.z) * Mathf.Rad2Deg; + Quaternion q = Quaternion.AngleAxis(angle, rootRotation * Vector3.up); + + chestTargetRotation = q * chestTargetRotation; + + Vector3 t = Vector3.up; + t.x += pLeft.y; + t.x -= pRight.y; + t.x *= 0.5f * rotateChestByHands; + + angle = Mathf.Atan2(t.x, t.y) * Mathf.Rad2Deg; + q = Quaternion.AngleAxis(angle, rootRotation * Vector3.back); + + chestTargetRotation = q * chestTargetRotation; + } + + // Move the pelvis so that the head would remain fixed to the anchor + public void InverseTranslateToHead(Leg[] legs, bool limited, bool useCurrentLegMag, Vector3 offset, float w) { + Vector3 delta = (headPosition + offset - head.solverPosition) * w;// * (1f - pelvisPositionWeight); This makes the head lose its target when pelvisPositionWeight is between 0 and 1. + + Vector3 p = pelvis.solverPosition + delta; + MovePosition( limited? LimitPelvisPosition(legs, p, useCurrentLegMag): p); + } + + // Move and rotate the pelvis + private void TranslatePelvis(Leg[] legs, Vector3 deltaPosition, Quaternion deltaRotation, float scale) { + // Rotation + Vector3 p = head.solverPosition; + + deltaRotation = QuaTools.ClampRotation(deltaRotation, chestClampWeight, 2); + + Quaternion r = Quaternion.Slerp (Quaternion.identity, deltaRotation, bodyRotStiffness * rotationWeight); + r = Quaternion.Slerp (r, QuaTools.FromToRotation (pelvis.solverRotation, IKRotationPelvis), pelvisRotationWeight); + VirtualBone.RotateAroundPoint(bones, 0, pelvis.solverPosition, pelvisRotationOffset * r); + + deltaPosition -= head.solverPosition - p; + + // Position + // Move the body back when head is moving down + Vector3 m = rootRotation * Vector3.forward; + float deltaY = V3Tools.ExtractVertical(deltaPosition, rootRotation * Vector3.up, 1f).magnitude; + if (scale > 0f) deltaY /= scale; + float backOffset = deltaY * -moveBodyBackWhenCrouching * headHeight; + deltaPosition += m * backOffset; + + MovePosition (LimitPelvisPosition(legs, pelvis.solverPosition + deltaPosition * bodyPosStiffness * positionWeight, false)); + } + + // Limit the position of the pelvis so that the feet/toes would remain fixed + private Vector3 LimitPelvisPosition(Leg[] legs, Vector3 pelvisPosition, bool useCurrentLegMag, int it = 2) { + if (!hasLegs) return pelvisPosition; + + // Cache leg current mag + if (useCurrentLegMag) { + foreach (Leg leg in legs) { + leg.currentMag = Mathf.Max(Vector3.Distance(leg.thigh.solverPosition, leg.lastBone.solverPosition), leg.currentMag); + } + } + + // Solve a 3-point constraint + for (int i = 0; i < it; i++) { + foreach (Leg leg in legs) { + Vector3 delta = pelvisPosition - pelvis.solverPosition; + Vector3 wantedThighPos = leg.thigh.solverPosition + delta; + Vector3 toWantedThighPos = wantedThighPos - leg.position; + float maxMag = useCurrentLegMag? leg.currentMag: leg.mag; + Vector3 limitedThighPos = leg.position + Vector3.ClampMagnitude(toWantedThighPos, maxMag); + pelvisPosition += limitedThighPos - wantedThighPos; + + // TODO rotate pelvis to accommodate, rotate the spine back then + } + } + + return pelvisPosition; + } + + // Bending the spine to the head effector + private void Bend(VirtualBone[] bones, int firstIndex, int lastIndex, Quaternion targetRotation, float clampWeight, bool uniformWeight, float w) { + if (w <= 0f) return; + if (bones.Length == 0) return; + int bonesCount = (lastIndex + 1) - firstIndex; + if (bonesCount < 1) return; + + Quaternion r = QuaTools.FromToRotation(bones[lastIndex].solverRotation, targetRotation); + r = QuaTools.ClampRotation(r, clampWeight, 2); + + float step = uniformWeight? 1f / bonesCount: 0f; + + for (int i = firstIndex; i < lastIndex + 1; i++) { + if (!uniformWeight) step = Mathf.Clamp(((i - firstIndex) + 1) / bonesCount, 0, 1f); + VirtualBone.RotateAroundPoint(bones, i, bones[i].solverPosition, Quaternion.Slerp(Quaternion.identity, r, step * w)); + } + } + + // Bending the spine to the head effector + private void Bend(VirtualBone[] bones, int firstIndex, int lastIndex, Quaternion targetRotation, Quaternion rotationOffset, float clampWeight, bool uniformWeight, float w) { + if (w <= 0f) return; + if (bones.Length == 0) return; + int bonesCount = (lastIndex + 1) - firstIndex; + if (bonesCount < 1) return; + + Quaternion r = QuaTools.FromToRotation(bones[lastIndex].solverRotation, targetRotation); + r = QuaTools.ClampRotation(r, clampWeight, 2); + float step = uniformWeight ? 1f / bonesCount : 0f; + + for (int i = firstIndex; i < lastIndex + 1; i++) + { + + if (!uniformWeight) + { + if (bonesCount == 1) + { + step = 1f; + } else if (bonesCount == 2) + { + step = i == 0 ? 0.2f : 0.8f; + } else if (bonesCount == 3) + { + if (i == 0) step = 0.15f; + else if (i == 1) step = 0.4f; + else step = 0.45f; + } else if (bonesCount > 3) + { + step = 1f / bonesCount; + } + } + + //if (!uniformWeight) step = Mathf.Clamp(((i - firstIndex) + 1) / bonesCount, 0, 1f); + VirtualBone.RotateAroundPoint(bones, i, bones[i].solverPosition, Quaternion.Slerp(Quaternion.Slerp(Quaternion.identity, rotationOffset, step), r, step * w)); + } + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs.meta new file mode 100644 index 00000000..99a09601 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRSpine.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c34f2fc23becf47eaac7e16737cfb2d9 +timeCreated: 1456904601 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs new file mode 100644 index 00000000..1fc58371 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs @@ -0,0 +1,242 @@ +using UnityEngine; +using System.Collections; +using System; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Hybrid %IK solver designed for mapping a character to a VR headset and 2 hand controllers + /// + public partial class IKSolverVR: IKSolver { + + [System.Serializable] + public enum PositionOffset { + Pelvis, + Chest, + Head, + LeftHand, + RightHand, + LeftFoot, + RightFoot, + LeftHeel, + RightHeel + } + + [System.Serializable] + public enum RotationOffset { + Pelvis, + Chest, + Head, + } + + [System.Serializable] + public class VirtualBone { + + public Vector3 readPosition; + public Quaternion readRotation; + + public Vector3 solverPosition; + public Quaternion solverRotation; + + public float length; + public float sqrMag; + public Vector3 axis; + + public VirtualBone(Vector3 position, Quaternion rotation) { + Read(position, rotation); + } + + public void Read(Vector3 position, Quaternion rotation) { + this.readPosition = position; + this.readRotation = rotation; + this.solverPosition = position; + this.solverRotation = rotation; + } + + public static void SwingRotation(VirtualBone[] bones, int index, Vector3 swingTarget, float weight = 1f) { + if (weight <= 0f) return; + + Quaternion r = Quaternion.FromToRotation(bones[index].solverRotation * bones[index].axis, swingTarget - bones[index].solverPosition); + if (weight < 1f) r = Quaternion.Lerp(Quaternion.identity, r, weight); + + for (int i = index; i < bones.Length; i++) { + bones[i].solverRotation = r * bones[i].solverRotation; + } + } + + // Calculates bone lengths and axes, returns the length of the entire chain + public static float PreSolve(ref VirtualBone[] bones) { + float length = 0; + + for (int i = 0; i < bones.Length; i++) { + if (i < bones.Length - 1) { + bones[i].sqrMag = (bones[i + 1].solverPosition - bones[i].solverPosition).sqrMagnitude; + bones[i].length = Mathf.Sqrt(bones[i].sqrMag); + length += bones[i].length; + + bones[i].axis = Quaternion.Inverse(bones[i].solverRotation) * (bones[i + 1].solverPosition - bones[i].solverPosition); + } else { + bones[i].sqrMag = 0f; + bones[i].length = 0f; + } + } + + return length; + } + + public static void RotateAroundPoint(VirtualBone[] bones, int index, Vector3 point, Quaternion rotation) { + for (int i = index; i < bones.Length; i++) { + if (bones[i] != null) { + Vector3 dir = bones[i].solverPosition - point; + bones[i].solverPosition = point + rotation * dir; + bones[i].solverRotation = rotation * bones[i].solverRotation; + } + } + } + + public static void RotateBy(VirtualBone[] bones, int index, Quaternion rotation) { + for (int i = index; i < bones.Length; i++) { + if (bones[i] != null) { + Vector3 dir = bones[i].solverPosition - bones[index].solverPosition; + bones[i].solverPosition = bones[index].solverPosition + rotation * dir; + bones[i].solverRotation = rotation * bones[i].solverRotation; + } + } + } + + public static void RotateBy(VirtualBone[] bones, Quaternion rotation) { + for (int i = 0; i < bones.Length; i++) { + if (bones[i] != null) { + if (i > 0) { + Vector3 dir = bones[i].solverPosition - bones[0].solverPosition; + bones[i].solverPosition = bones[0].solverPosition + rotation * dir; + } + + bones[i].solverRotation = rotation * bones[i].solverRotation; + } + } + } + + public static void RotateTo(VirtualBone[] bones, int index, Quaternion rotation) { + Quaternion q = QuaTools.FromToRotation(bones[index].solverRotation, rotation); + + RotateAroundPoint(bones, index, bones[index].solverPosition, q); + } + + // TODO Move to IKSolverTrigonometric + /// + /// Solve the bone chain virtually using both solverPositions and SolverRotations. This will work the same as IKSolverTrigonometric.Solve. + /// + public static void SolveTrigonometric(VirtualBone[] bones, int first, int second, int third, Vector3 targetPosition, Vector3 bendNormal, float weight) { + if (weight <= 0f) return; + + // Direction of the limb in solver + targetPosition = Vector3.Lerp(bones[third].solverPosition, targetPosition, weight); + + Vector3 dir = targetPosition - bones[first].solverPosition; + + // Distance between the first and the last transform solver positions + float sqrMag = dir.sqrMagnitude; + if (sqrMag == 0f) return; + float length = Mathf.Sqrt(sqrMag); + + float sqrMag1 = (bones[second].solverPosition - bones[first].solverPosition).sqrMagnitude; + float sqrMag2 = (bones[third].solverPosition - bones[second].solverPosition).sqrMagnitude; + + // Get the general world space bending direction + Vector3 bendDir = Vector3.Cross(dir, bendNormal); + + // Get the direction to the trigonometrically solved position of the second transform + Vector3 toBendPoint = GetDirectionToBendPoint(dir, length, bendDir, sqrMag1, sqrMag2); + + // Position the second transform + Quaternion q1 = Quaternion.FromToRotation(bones[second].solverPosition - bones[first].solverPosition, toBendPoint); + if (weight < 1f) q1 = Quaternion.Lerp(Quaternion.identity, q1, weight); + + RotateAroundPoint(bones, first, bones[first].solverPosition, q1); + + Quaternion q2 = Quaternion.FromToRotation(bones[third].solverPosition - bones[second].solverPosition, targetPosition - bones[second].solverPosition); + if (weight < 1f) q2 = Quaternion.Lerp(Quaternion.identity, q2, weight); + + RotateAroundPoint(bones, second, bones[second].solverPosition, q2); + } + + //Calculates the bend direction based on the law of cosines. NB! Magnitude of the returned vector does not equal to the length of the first bone! + private static Vector3 GetDirectionToBendPoint(Vector3 direction, float directionMag, Vector3 bendDirection, float sqrMag1, float sqrMag2) { + float x = ((directionMag * directionMag) + (sqrMag1 - sqrMag2)) / 2f / directionMag; + float y = (float)Math.Sqrt(Mathf.Clamp(sqrMag1 - x * x, 0, Mathf.Infinity)); + + if (direction == Vector3.zero) return Vector3.zero; + return Quaternion.LookRotation(direction, bendDirection) * new Vector3(0f, y, x); + } + + // TODO Move to IKSolverFABRIK + // Solves a simple FABRIK pass for a bone hierarchy, not using rotation limits or singularity breaking here + public static void SolveFABRIK(VirtualBone[] bones, Vector3 startPosition, Vector3 targetPosition, float weight, float minNormalizedTargetDistance, int iterations, float length, Vector3 startOffset) { + if (weight <= 0f) return; + + if (minNormalizedTargetDistance > 0f) { + Vector3 targetDirection = targetPosition - startPosition; + float targetLength = targetDirection.magnitude; + Vector3 tP = startPosition + (targetDirection / targetLength) * Mathf.Max(length * minNormalizedTargetDistance, targetLength); + targetPosition = Vector3.Lerp(targetPosition, tP, weight); + } + + // Iterating the solver + for (int iteration = 0; iteration < iterations; iteration ++) { + // Stage 1 + bones[bones.Length - 1].solverPosition = Vector3.Lerp(bones[bones.Length - 1].solverPosition, targetPosition, weight); + + for (int i = bones.Length - 2; i > -1; i--) { + // Finding joint positions + bones[i].solverPosition = SolveFABRIKJoint(bones[i].solverPosition, bones[i + 1].solverPosition, bones[i].length); + } + + // Stage 2 + if (iteration == 0) { + foreach (VirtualBone bone in bones) bone.solverPosition += startOffset; + } + + bones[0].solverPosition = startPosition; + + for (int i = 1; i < bones.Length; i++) { + bones[i].solverPosition = SolveFABRIKJoint(bones[i].solverPosition, bones[i - 1].solverPosition, bones[i - 1].length); + } + } + + for (int i = 0; i < bones.Length - 1; i++) { + VirtualBone.SwingRotation(bones, i, bones[i + 1].solverPosition); + } + } + + // Solves a FABRIK joint between two bones. + private static Vector3 SolveFABRIKJoint(Vector3 pos1, Vector3 pos2, float length) { + return pos2 + (pos1 - pos2).normalized * length; + } + + public static void SolveCCD(VirtualBone[] bones, Vector3 targetPosition, float weight, int iterations) { + if (weight <= 0f) return; + + // Iterating the solver + for (int iteration = 0; iteration < iterations; iteration ++) { + for (int i = bones.Length - 2; i > -1; i--) { + Vector3 toLastBone = bones[bones.Length - 1].solverPosition - bones[i].solverPosition; + Vector3 toTarget = targetPosition - bones[i].solverPosition; + + + Quaternion rotation = Quaternion.FromToRotation(toLastBone, toTarget); + + if (weight >= 1) { + //bones[i].transform.rotation = targetRotation; + VirtualBone.RotateBy(bones, i, rotation); + } else { + VirtualBone.RotateBy(bones, i, Quaternion.Lerp(Quaternion.identity, rotation, weight)); + } + } + } + } + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs.meta new file mode 100644 index 00000000..136091e7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/IKSolverVRUtilities.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 16c601bf2e7a39247856d2c8521cbe4d +timeCreated: 1467799164 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs new file mode 100644 index 00000000..ebaa89ac --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs @@ -0,0 +1,75 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /// + /// Relaxes the twist rotation if the TwistSolver transforms relative to their parent and a child Transforms, using their initial rotations as the most relaxed pose. + /// + public class TwistRelaxer : MonoBehaviour + { + + public IK ik; + + [Tooltip("If using multiple solvers, add them in inverse hierarchical order - first forearm roll bone, then forearm bone and upper arm bone.")] + public TwistSolver[] twistSolvers = new TwistSolver[0]; + + public void Start() + { + if (twistSolvers.Length == 0) + { + Debug.LogError("TwistRelaxer has no TwistSolvers. TwistRelaxer.cs was restructured for FIK v2.0 to support multiple relaxers on the same body part and TwistRelaxer components need to be set up again, sorry for the inconvenience!", transform); + return; + } + + foreach (TwistSolver twistSolver in twistSolvers) + { + twistSolver.Initiate(); + } + + if (ik != null) + { + ik.GetIKSolver().OnPostUpdate += OnPostUpdate; + } + } + + private void Update() + { + if (ik != null && ik.fixTransforms) + { + foreach (TwistSolver twistSolver in twistSolvers) + { + twistSolver.FixTransforms(); + } + } + } + + void OnPostUpdate() + { + if (ik != null) + { + foreach (TwistSolver twistSolver in twistSolvers) + { + twistSolver.Relax(); + } + } + } + + void LateUpdate() + { + if (ik == null) + { + foreach (TwistSolver twistSolver in twistSolvers) + { + twistSolver.Relax(); + } + } + } + + void OnDestroy() + { + if (ik != null) ik.GetIKSolver().OnPostUpdate -= OnPostUpdate; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs.meta new file mode 100644 index 00000000..624310b5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistRelaxer.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: e561d2b0d3d2241fd9bc4929a8f64b7f +timeCreated: 1465797451 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 10300 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs new file mode 100644 index 00000000..ac030067 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs @@ -0,0 +1,174 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.FinalIK +{ + /// + /// Relaxes the twist rotation if the Transform relative to its parent and a child Transforms, using the Transform's initial rotation as the most relaxed pose. + /// + [System.Serializable] + public class TwistSolver + { + [Tooltip("The transform that this solver operates on.")] + public Transform transform; + + [Tooltip("If this is the forearm roll bone, the parent should be the forearm bone. If null, will be found automatically.")] + public Transform parent; + + [Tooltip("If this is the forearm roll bone, the child should be the hand bone. If null, will attempt to find automatically. Assign the hand manually if the hand bone is not a child of the roll bone.")] + public Transform[] children = new Transform[0]; + + [Tooltip("The weight of relaxing the twist of this Transform")] + [Range(0f, 1f)] public float weight = 1f; + + [Tooltip("If 0.5, this Transform will be twisted half way from parent to child. If 1, the twist angle will be locked to the child and will rotate with along with it.")] + [Range(0f, 1f)] public float parentChildCrossfade = 0.5f; + + [Tooltip("Rotation offset around the twist axis.")] + [Range(-180f, 180f)] public float twistAngleOffset; + + private Vector3 twistAxis = Vector3.right; + private Vector3 axis = Vector3.forward; + private Vector3 axisRelativeToParentDefault, axisRelativeToChildDefault; + private Quaternion[] childRotations; + private bool inititated; + private Quaternion defaultLocalRotation = Quaternion.identity; + private Quaternion[] defaultChildLocalRotations; + + public TwistSolver() + { + weight = 1f; + parentChildCrossfade = 0.5f; + } + + public TwistSolver(Transform t) + { + transform = t; + weight = 1f; + parentChildCrossfade = 0.5f; + } + + /// + /// Initiate this TwistSolver + /// + public void Initiate() + { + if (inititated) return; + + if (transform == null) + { + Debug.LogError("TwistRelaxer solver has unassigned Transform. TwistRelaxer.cs was restructured for FIK v2.0 to support multiple relaxers on the same body part and TwistRelaxer components need to be set up again, sorry for the inconvenience!", transform); + return; + } + + if (parent == null) parent = transform.parent; + + if (children.Length == 0) + { + if (transform.childCount == 0) + { + var children = parent.GetComponentsInChildren(); + for (int i = 1; i < children.Length; i++) + { + if (children[i] != transform) + { + children = new Transform[1] { children[i] }; + break; + } + } + } + else + { + children = new Transform[1] { transform.GetChild(0) }; + } + } + + if (children.Length == 0 || children[0] == null) + { + Debug.LogError("TwistRelaxer has no children assigned.", transform); + return; + } + + twistAxis = transform.InverseTransformDirection(children[0].position - transform.position); + axis = new Vector3(twistAxis.y, twistAxis.z, twistAxis.x); + + // Axis in world space + Vector3 axisWorld = transform.rotation * axis; + + // Store the axis in worldspace relative to the rotations of the parent and child + axisRelativeToParentDefault = Quaternion.Inverse(parent.rotation) * axisWorld; + axisRelativeToChildDefault = Quaternion.Inverse(children[0].rotation) * axisWorld; + + childRotations = new Quaternion[children.Length]; + + defaultLocalRotation = transform.localRotation; + defaultChildLocalRotations = new Quaternion[children.Length]; + for (int i = 0; i < children.Length; i++) + { + defaultChildLocalRotations[i] = children[i].localRotation; + } + + //if (ik != null) ik.GetIKSolver().OnPostUpdate += OnPostUpdate; + inititated = true; + } + + /// + /// Rotates the bone back to default localRotation. + /// + public void FixTransforms() + { + transform.localRotation = defaultLocalRotation; + + for (int i = 0; i < children.Length; i++) + { + children[i].localRotation = defaultChildLocalRotations[i]; + } + } + + /// + /// Rotate this Transform to relax its twist angle relative to the "parent" and "child" Transforms. + /// + public void Relax() + { + if (!inititated) return; + if (weight <= 0f) return; // Nothing to do here + + Quaternion rotation = transform.rotation; + Quaternion twistOffset = Quaternion.AngleAxis(twistAngleOffset, rotation * twistAxis); + rotation = twistOffset * rotation; + + // Find the world space relaxed axes of the parent and child + Vector3 relaxedAxisParent = twistOffset * parent.rotation * axisRelativeToParentDefault; + Quaternion f = Quaternion.FromToRotation(transform.position - parent.position, children[0].position - transform.position); + relaxedAxisParent = f * relaxedAxisParent; + + Vector3 relaxedAxisChild = twistOffset * children[0].rotation * axisRelativeToChildDefault; + + // Cross-fade between the parent and child + Vector3 relaxedAxis = Vector3.Slerp(relaxedAxisParent, relaxedAxisChild, parentChildCrossfade); + + // Convert relaxedAxis to (axis, twistAxis) space so we could calculate the twist angle + Quaternion r = Quaternion.LookRotation(rotation * axis, rotation * twistAxis); + relaxedAxis = Quaternion.Inverse(r) * relaxedAxis; + + // Calculate the angle by which we need to rotate this Transform around the twist axis. + float angle = Mathf.Atan2(relaxedAxis.x, relaxedAxis.z) * Mathf.Rad2Deg; + + // Store the rotation of the child so it would not change with twisting this Transform + for (int i = 0; i < children.Length; i++) + { + childRotations[i] = children[i].rotation; + } + + // Twist the bone + transform.rotation = Quaternion.AngleAxis(angle * weight, rotation * twistAxis) * rotation; + + // Revert the rotation of the child + for (int i = 0; i < children.Length; i++) + { + children[i].rotation = childRotations[i]; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs.meta new file mode 100644 index 00000000..fc991761 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/IK Solvers/TwistSolver.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 2b5bf5cae9f30014f83b16a298eb5508 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem.meta new file mode 100644 index 00000000..92d3c456 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 3e40d559d50f641ba85b41fff570a1c4 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs new file mode 100644 index 00000000..ce2d847e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs @@ -0,0 +1,534 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Managing Interactions for a single FBBIK effector. + /// + [System.Serializable] + public class InteractionEffector { + + // The type of the effector + public FullBodyBipedEffector effectorType { get; private set; } + + // Has the interaction been paused? + public bool isPaused { get; private set; } + // The current InteractionObject (null if there is no interaction going on) + public InteractionObject interactionObject { get; private set; } + // Is this InteractionEffector currently in the middle of an interaction? + public bool inInteraction { get { return interactionObject != null; }} + + // Internal values + private Poser poser; + private IKEffector effector; + private float timer, length, weight, fadeInSpeed, defaultPositionWeight, defaultRotationWeight, defaultPull, defaultReach, defaultPush, defaultPushParent, defaultBendGoalWeight, defaultPoserWeight, resetTimer; + private float prevPositionWeight, prevRotationWeight, prevRotateBoneWeight, prevPull, prevReach, prevPush, prevPushParent, prevBendGoalWeight, prevPoserWeight, switchTimer; + private bool positionWeightUsed, rotationWeightUsed, pullUsed, reachUsed, pushUsed, pushParentUsed, bendGoalWeightUsed, poserUsed; + private bool prevPositionWeightUsed, prevRotationWeightUsed, prevRotateBoneWeightUsed, prevPullUsed, prevReachUsed, prevPushUsed, prevPushParentUsed, prevBendGoalWeightUsed, prevPoserUsed; + private bool pickedUp, defaults, pickUpOnPostFBBIK; + private Vector3 pickUpPosition, pausePositionRelative, prevTargetPosition; + private Quaternion pickUpRotation, pauseRotationRelative, prevTargetRotation = Quaternion.identity, prevRotateBoneValue = Quaternion.identity; + private InteractionTarget interactionTarget; + private Transform target; + private List triggered = new List(); + private InteractionSystem interactionSystem; + private bool started; + private bool isSwitching; + + // The custom constructor + public InteractionEffector (FullBodyBipedEffector effectorType) { + this.effectorType = effectorType; + } + + // Initiate this, get the default values + public void Initiate(InteractionSystem interactionSystem) { + this.interactionSystem = interactionSystem; + + // Find the effector if we haven't already + effector = interactionSystem.ik.solver.GetEffector(effectorType); + poser = effector.bone.GetComponent(); + + StoreDefaults(); + } + + /// + /// Store the default values to which the effector will be reset to after an interaction has ended. + /// + public void StoreDefaults() { + if (interactionSystem == null) return; + + defaultPositionWeight = interactionSystem.ik.solver.GetEffector(effectorType).positionWeight; + defaultRotationWeight = interactionSystem.ik.solver.GetEffector(effectorType).rotationWeight; + defaultPoserWeight = poser != null? poser.weight: 0f; + defaultPull = interactionSystem.ik.solver.GetChain(effectorType).pull; + defaultReach = interactionSystem.ik.solver.GetChain(effectorType).reach; + defaultPush = interactionSystem.ik.solver.GetChain(effectorType).push; + defaultPushParent = interactionSystem.ik.solver.GetChain(effectorType).pushParent; + defaultBendGoalWeight = interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight; + } + + /// + /// Store the current interaction values from which to interpolate to the next interaction + /// + public void StorePrevious(InteractionObject interactionObject) + { + if (interactionSystem == null) return; + + // See which InteractionObject.WeightCurve.Types are used + prevTargetPosition = effector.position; + prevTargetRotation = effector.rotation; + + prevPositionWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PositionWeight); + prevRotationWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.RotationWeight); + prevRotateBoneWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.RotateBoneWeight); + prevPullUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Pull); + prevReachUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Reach); + prevPushUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Push); + prevPushParentUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PushParent); + prevBendGoalWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.BendGoalWeight); + prevPoserUsed = poser != null && interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PoserWeight); + + prevPositionWeight = interactionSystem.ik.solver.GetEffector(effectorType).positionWeight; + prevRotationWeight = interactionSystem.ik.solver.GetEffector(effectorType).rotationWeight; + prevPoserWeight = poser != null ? poser.weight : 0f; + prevPull = interactionSystem.ik.solver.GetChain(effectorType).pull; + prevReach = interactionSystem.ik.solver.GetChain(effectorType).reach; + prevPush = interactionSystem.ik.solver.GetChain(effectorType).push; + prevPushParent = interactionSystem.ik.solver.GetChain(effectorType).pushParent; + prevBendGoalWeight = interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight; + + switchTimer = 0f; + isSwitching = true; + } + + // Interpolate from previous to current interaction + public bool Switch(float speed, float deltaTime) + { + //if (!inInteraction) return false; + //if (isPaused) return false; + if (!isSwitching) return false; + + switchTimer = Mathf.MoveTowards(switchTimer, 1f, deltaTime * speed); + + // Pull and Reach + if (effector.isEndEffector) + { + if (prevPullUsed) interactionSystem.ik.solver.GetChain(effectorType).pull = Mathf.Lerp(prevPull, interactionSystem.ik.solver.GetChain(effectorType).pull, switchTimer); + if (prevReachUsed) interactionSystem.ik.solver.GetChain(effectorType).reach = Mathf.Lerp(prevReach, interactionSystem.ik.solver.GetChain(effectorType).reach, switchTimer); + if (prevPushUsed) interactionSystem.ik.solver.GetChain(effectorType).push = Mathf.Lerp(prevPush, interactionSystem.ik.solver.GetChain(effectorType).push, switchTimer); + if (prevPushParentUsed) interactionSystem.ik.solver.GetChain(effectorType).pushParent = Mathf.Lerp(prevPushParent, interactionSystem.ik.solver.GetChain(effectorType).pushParent, switchTimer); + if (prevBendGoalWeightUsed) interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight = Mathf.Lerp(prevBendGoalWeight, interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight, switchTimer); + } + + // Effector weights + if (prevPositionWeightUsed) + { + effector.positionWeight = Mathf.Lerp(prevPositionWeight, effector.positionWeight, switchTimer); + effector.position = Vector3.Lerp(prevTargetPosition, effector.position, switchTimer); + } + if (prevRotationWeightUsed) + { + effector.rotationWeight = Mathf.Lerp(prevRotationWeight, effector.rotationWeight, switchTimer); + effector.rotation = Quaternion.Lerp(prevTargetRotation, effector.rotation, switchTimer); + } + + if (switchTimer >= 1f) + { + prevPullUsed = false; + prevReachUsed = false; + prevPushUsed = false; + prevPushParentUsed = false; + prevPositionWeightUsed = false; + prevRotationWeightUsed = false; + prevBendGoalWeightUsed = false; + prevPoserUsed = false; + + isSwitching = false; + } + + return true; + } + + // Interpolate to default values when currently not in interaction + public bool ResetToDefaults(float speed, float deltaTime) { + if (inInteraction) return false; + if (isPaused) return false; + if (defaults) return false; + + resetTimer = Mathf.MoveTowards(resetTimer, 0f, deltaTime * speed); + + // Pull and Reach + if (effector.isEndEffector) { + if (pullUsed) interactionSystem.ik.solver.GetChain(effectorType).pull = Mathf.Lerp(defaultPull, interactionSystem.ik.solver.GetChain(effectorType).pull, resetTimer); + if (reachUsed) interactionSystem.ik.solver.GetChain(effectorType).reach = Mathf.Lerp(defaultReach, interactionSystem.ik.solver.GetChain(effectorType).reach, resetTimer); + if (pushUsed) interactionSystem.ik.solver.GetChain(effectorType).push = Mathf.Lerp(defaultPush, interactionSystem.ik.solver.GetChain(effectorType).push, resetTimer); + if (pushParentUsed) interactionSystem.ik.solver.GetChain(effectorType).pushParent = Mathf.Lerp(defaultPushParent, interactionSystem.ik.solver.GetChain(effectorType).pushParent, resetTimer); + if (bendGoalWeightUsed) interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight = Mathf.Lerp(defaultBendGoalWeight, interactionSystem.ik.solver.GetChain(effectorType).bendConstraint.weight, resetTimer); + } + + // Effector weights + if (positionWeightUsed) effector.positionWeight = Mathf.Lerp(defaultPositionWeight, effector.positionWeight, resetTimer); + if (rotationWeightUsed) effector.rotationWeight = Mathf.Lerp(defaultRotationWeight, effector.rotationWeight, resetTimer); + + if (resetTimer <= 0f) { + pullUsed = false; + reachUsed = false; + pushUsed = false; + pushParentUsed = false; + positionWeightUsed = false; + rotationWeightUsed = false; + bendGoalWeightUsed = false; + poserUsed = false; + + defaults = true; + } + + return true; + } + + // Pause this interaction + public bool Pause() { + if (!inInteraction) return false; + isPaused = true; + + pausePositionRelative = target.InverseTransformPoint(effector.position); + pauseRotationRelative = Quaternion.Inverse(target.rotation) * effector.rotation; + + if (interactionSystem.OnInteractionPause != null) { + interactionSystem.OnInteractionPause(effectorType, interactionObject); + } + + return true; + } + + // Resume a paused interaction + public bool Resume() { + if (!inInteraction) return false; + + isPaused = false; + if (interactionSystem.OnInteractionResume != null) interactionSystem.OnInteractionResume(effectorType, interactionObject); + + return true; + } + + // Start interaction + public bool Start(InteractionObject interactionObject, string tag, float fadeInTime, bool interrupt) + { + if (inInteraction && !interrupt) return false; + + // Get the InteractionTarget + InteractionTarget interactionTarget = null; + target = interactionObject.GetTarget(effectorType, tag); + if (target != null) interactionTarget = target.GetComponent(); + + return Start(interactionObject, interactionTarget, fadeInTime, interrupt); + } + + public bool Start(InteractionObject interactionObject, InteractionTarget interactionTarget, float fadeInTime, bool interrupt) + { + // If not in interaction, set effector positions to their bones + if (!inInteraction) + { + effector.position = effector.bone.position; + effector.rotation = effector.bone.rotation; + } + else + { + if (!interrupt) + { + return false; + } + else + { + defaults = false; + StorePrevious(interactionObject); + } + } + + this.interactionTarget = interactionTarget; + + target = interactionTarget != null? interactionTarget.transform: interactionObject.transform; + + // Start the interaction + this.interactionObject = interactionObject; + if (interactionSystem.OnInteractionStart != null) interactionSystem.OnInteractionStart(effectorType, interactionObject); + interactionObject.OnStartInteraction(interactionSystem); + + // Cleared triggered events + triggered.Clear(); + + for (int i = 0; i < interactionObject.events.Length; i++) + { + triggered.Add(false); + } + + // See which InteractionObject.WeightCurve.Types are used + positionWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PositionWeight); + rotationWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.RotationWeight); + pullUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Pull); + reachUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Reach); + pushUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.Push); + pushParentUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PushParent); + bendGoalWeightUsed = interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.BendGoalWeight); + poserUsed = poser != null && interactionObject.CurveUsed(InteractionObject.WeightCurve.Type.PoserWeight); + + // Posing the hand/foot + if (poser != null && poserUsed) + { + if (poser.poseRoot == null) poser.weight = 0f; + + if (interactionTarget != null) + { + if (interactionTarget.usePoser) + { + poser.SetPoseRoot(target.transform, interactionTarget.bones, interactionSystem.switchInteractionSpeed); + } + } else + { + poser.SetPoseRoot(null, null, interactionSystem.switchInteractionSpeed); + } + + poser.AutoMapping(); + } + + if (defaults) StoreDefaults(); + + // Reset internal values + timer = 0f; + weight = 0f; + fadeInSpeed = fadeInTime > 0f ? 1f / fadeInTime : 1000f; + length = interactionObject.length; + + isPaused = false; + pickedUp = false; + pickUpPosition = Vector3.zero; + pickUpRotation = Quaternion.identity; + + if (interactionTarget != null) interactionTarget.RotateTo(effector.bone); + + started = true; + + return true; + } + + // Update the (possibly) ongoing interaction + public void Update(Transform root, float speed, float deltaTime) { + if (!inInteraction) { + // If the InteractionObject has been destroyed, reset to defaults + if (started) { + isPaused = false; + pickedUp = false; + defaults = false; + resetTimer = 1f; + started = false; + } + return; + } + + // Rotate target + if (interactionTarget != null && !interactionTarget.rotateOnce) interactionTarget.RotateTo(effector.bone); + + if (isPaused) { + if (!pickedUp) + { + effector.position = target.TransformPoint(pausePositionRelative); + effector.rotation = target.rotation * pauseRotationRelative; + } + // Apply the current interaction state to the solver + interactionObject.Apply(interactionSystem.ik.solver, effectorType, interactionTarget, timer, weight, true); + + return; + } + + // Advance the interaction timer and weight + timer += deltaTime * speed * (interactionTarget != null? interactionTarget.interactionSpeedMlp: 1f); + weight = Mathf.Clamp(weight + deltaTime * fadeInSpeed * speed, 0f, 1f); + + // Interaction events + bool pickUp = false; + bool pause = false; + TriggerUntriggeredEvents(true, out pickUp, out pause); + + // Effector target positions and rotations + Vector3 targetPosition = pickedUp? interactionSystem.transform.TransformPoint(pickUpPosition): target.position; + Quaternion targetRotation = pickedUp? interactionSystem.transform.rotation * pickUpRotation: target.rotation; + + // Interpolate effector position and rotation + effector.position = Vector3.Lerp(effector.bone.position, targetPosition, weight); + effector.rotation = Quaternion.Lerp(effector.bone.rotation, targetRotation, weight); + + // Apply the current interaction state to the solver + interactionObject.Apply(interactionSystem.ik.solver, effectorType, interactionTarget, timer, weight, false); + + if (pickUp) PickUp(root); + if (pause) Pause(); + + // Hand poser weight + float poserWeight = interactionObject.GetValue (InteractionObject.WeightCurve.Type.PoserWeight, interactionTarget, timer); + + if (poser != null && poserUsed) { + poser.weight = Mathf.Lerp (poser.weight, poserWeight, weight); + } else { + if (poserWeight > 0f) { + Warning.Log("InteractionObject " + interactionObject.name + " has a curve/multipler for Poser Weight, but the bone of effector " + effectorType.ToString() + " has no HandPoser/GenericPoser attached.", effector.bone); + } + } + + if (timer >= length) Stop(); + } + + // Get the normalized progress of the interaction + public float progress { + get { + if (!inInteraction) return 0f; + if (length == 0f) return 0f; + return timer / length; + } + } + + // Go through all the InteractionObject events to trigger the ones that have not yet triggered + private void TriggerUntriggeredEvents(bool checkTime, out bool pickUp, out bool pause) { + pickUp = false; + pause = false; + + for (int i = 0; i < triggered.Count; i++) { + // If this event has not been triggered by this effector + if (!triggered[i]) { + + // If time has passed... + if (!checkTime || interactionObject.events[i].time < timer) { + + // Activate the event + interactionObject.events[i].Activate(effector.bone); + + // Picking up + if (interactionObject.events[i].pickUp) { + if (timer >= interactionObject.events[i].time) timer = interactionObject.events[i].time; + + pickUp = true; + } + + // Pausing + if (interactionObject.events[i].pause) { + if (timer >= interactionObject.events[i].time) timer = interactionObject.events[i].time; + + pause = true; + } + + if (interactionSystem.OnInteractionEvent != null) interactionSystem.OnInteractionEvent(effectorType, interactionObject, interactionObject.events[i]); + + triggered[i] = true; + } + } + } + } + + // Trigger the interaction object + private void PickUp(Transform root) { + // Picking up the object + pickUpPosition = root.InverseTransformPoint(effector.position); + pickUpRotation = Quaternion.Inverse(interactionSystem.transform.rotation) * effector.rotation; + + pickUpOnPostFBBIK = true; + + pickedUp = true; + + var rigidbody = interactionObject.targetsRoot.GetComponent(); + + if (rigidbody != null) { + if (!rigidbody.isKinematic) { + rigidbody.isKinematic = true; + } + + // Ignore collisions between the character and the colliders of the interaction object + var rootCollider = root.GetComponent(); + + if (rootCollider != null) { + var colliders = interactionObject.targetsRoot.GetComponentsInChildren(); + + foreach (Collider collider in colliders) { + if (!collider.isTrigger && collider.enabled) Physics.IgnoreCollision(rootCollider, collider); + } + } + } + + if (interactionSystem.OnInteractionPickUp != null) interactionSystem.OnInteractionPickUp(effectorType, interactionObject); + } + + // Stop the interaction + public bool Stop() { + if (!inInteraction) return false; + + bool pickUp = false; + bool pause = false; + TriggerUntriggeredEvents(false, out pickUp, out pause); + + if (interactionSystem.OnInteractionStop != null) interactionSystem.OnInteractionStop(effectorType, interactionObject); + + // Reset the interaction target + if (interactionTarget != null) interactionTarget.ResetRotation(); + + // Reset the internal values + interactionObject = null; + weight = 0f; + timer = 0f; + + isPaused = false; + target = null; + defaults = false; + resetTimer = 1f; + //if (poser != null && !pickedUp) poser.weight = 0f; + pickedUp = false; + started = false; + + return true; + } + + // Called after FBBIK update + public void OnPostFBBIK() { + if (!inInteraction) return; + + // Rotate the hands/feet to the RotateBoneWeight curve + float rotateBoneWeight = interactionObject.GetValue(InteractionObject.WeightCurve.Type.RotateBoneWeight, interactionTarget, timer) * weight; + + if (isSwitching) + { + rotateBoneWeight = Mathf.Lerp(prevRotateBoneWeight, rotateBoneWeight, switchTimer); + } else + { + prevRotateBoneWeight = rotateBoneWeight; + } + + if (rotateBoneWeight > 0f) { + Quaternion r = pickedUp? interactionSystem.transform.rotation * pickUpRotation: effector.rotation; + + Quaternion targetRotation = Quaternion.Slerp(effector.bone.rotation, r, rotateBoneWeight * rotateBoneWeight); + effector.bone.localRotation = Quaternion.Inverse(effector.bone.parent.rotation) * targetRotation; + } + + if (isSwitching) + { + effector.bone.localRotation = Quaternion.Slerp(prevRotateBoneValue, effector.bone.localRotation, switchTimer); + } + else + { + prevRotateBoneValue = effector.bone.localRotation; + } + + // Positioning the interaction object to the effector (not the bone, because it is still at its animated translation) + if (pickUpOnPostFBBIK) { + Vector3 bonePosition = effector.bone.position; + effector.bone.position = interactionSystem.transform.TransformPoint(pickUpPosition); + + interactionObject.targetsRoot.parent = effector.bone; + + effector.bone.position = bonePosition; + + pickUpOnPostFBBIK = false; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs.meta new file mode 100644 index 00000000..833fbcae --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionEffector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4046d96b4054144c0b0fe262b112932c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs new file mode 100644 index 00000000..511ea5e6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs @@ -0,0 +1,100 @@ +using UnityEngine; +using System.Collections; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Controls LookAtIK for the InteractionSystem + /// + [System.Serializable] + public class InteractionLookAt { + + // (Optional) reference to the LookAtIK component that will be used to make the character look at the objects that it is interacting with. + [Tooltip("(Optional) reference to the LookAtIK component that will be used to make the character look at the objects that it is interacting with.")] + public LookAtIK ik; + /// + /// Interpolation speed of the LookAtIK target. + /// + [Tooltip("Interpolation speed of the LookAtIK target.")] + public float lerpSpeed = 5f; + /// + /// Interpolation speed of the LookAtIK weight. + /// + [Tooltip("Interpolation speed of the LookAtIK weight.")] + public float weightSpeed = 1f; + + /// + /// Look the specified target for the specified time. + /// + public void Look(Transform target, float time) { + if (ik == null) return; + + if (ik.solver.IKPositionWeight <= 0f) ik.solver.IKPosition = ik.solver.GetRoot().position + ik.solver.GetRoot().forward * 3f; + lookAtTarget = target; + stopLookTime = time; + } + + [HideInInspector] public bool isPaused; + private Transform lookAtTarget; // The target Transform to look at + private float stopLookTime; // Time to start fading out the LookAtIK + private float weight; // Current weight + private bool firstFBBIKSolve; // Has the FBBIK already solved for this frame? In case it is solved more than once, for example when using the ShoulderRotator + + public void OnFixTransforms() { + if (ik == null) return; + if (ik.fixTransforms) ik.solver.FixTransforms(); + } + + public void Update() { + if (ik == null) return; + if (ik.enabled) ik.enabled = false; + + if (lookAtTarget == null) return; + + if (isPaused) stopLookTime += Time.deltaTime; + + // Interpolate the weight + float add = Time.time < stopLookTime? weightSpeed: -weightSpeed; + weight = Mathf.Clamp(weight + add * Time.deltaTime, 0f, 1f); + + // Set LookAtIK weight + ik.solver.IKPositionWeight = Interp.Float(weight, InterpolationMode.InOutQuintic); + + // Set LookAtIK position + ik.solver.IKPosition = Vector3.Lerp(ik.solver.IKPosition, lookAtTarget.position, lerpSpeed * Time.deltaTime); + + // Release the LookAtIK for other tasks once we're weighed out + if (weight <= 0f) lookAtTarget = null; + + firstFBBIKSolve = true; + } + + public void SolveSpine() { + if (ik == null) return; + if (!firstFBBIKSolve) return; + + float headWeight = ik.solver.headWeight; + float eyesWeight = ik.solver.eyesWeight; + + ik.solver.headWeight = 0f; + ik.solver.eyesWeight = 0f; + ik.solver.Update(); + ik.solver.headWeight = headWeight; + ik.solver.eyesWeight = eyesWeight; + } + + public void SolveHead() { + if (ik == null) return; + if (!firstFBBIKSolve) return; + + float bodyWeight = ik.solver.bodyWeight; + + ik.solver.bodyWeight = 0f; + ik.solver.Update(); + ik.solver.bodyWeight = bodyWeight; + + firstFBBIKSolve = false; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs.meta new file mode 100644 index 00000000..0c0e86ea --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionLookAt.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 277df98b5c4b44c71bf8c728da72f815 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs new file mode 100644 index 00000000..50e0b443 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs @@ -0,0 +1,548 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.Events; + +namespace RootMotion.FinalIK { + + /// + /// Object than the InteractionSystem can interact with. + /// + [HelpURL("https://www.youtube.com/watch?v=r5jiZnsDH3M")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Interaction System/Interaction Object")] + public class InteractionObject : MonoBehaviour { + + // Open the User Manual URL + [ContextMenu("User Manual")] + void OpenUserManual() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page10.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + void OpenScriptReference() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_interaction_object.html"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 1: BASICS)")] + void OpenTutorial1() { + Application.OpenURL("https://www.youtube.com/watch?v=r5jiZnsDH3M"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 2: PICKING UP...)")] + void OpenTutorial2() { + Application.OpenURL("https://www.youtube.com/watch?v=eP9-zycoHLk"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 3: ANIMATION)")] + void OpenTutorial3() { + Application.OpenURL("https://www.youtube.com/watch?v=sQfB2RcT1T4&index=14&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 4: TRIGGERS)")] + void OpenTutorial4() { + Application.OpenURL("https://www.youtube.com/watch?v=-TDZpNjt2mk&index=15&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// Predefined interaction events for pausing, picking up, triggering animations and sending messages. + /// + [System.Serializable] + public class InteractionEvent { + + /// + /// The time of the event since interaction start. + /// + [Tooltip("The time of the event since interaction start.")] + public float time; + /// + /// If true, the interaction will be paused on this event. The interaction can be resumed by InteractionSystem.ResumeInteraction() or InteractionSystem.ResumeAll; + /// + [Tooltip("If true, the interaction will be paused on this event. The interaction can be resumed by InteractionSystem.ResumeInteraction() or InteractionSystem.ResumeAll;")] + public bool pause; + /// + /// If true, the object will be parented to the effector bone on this event. Note that picking up like this can be done by only a single effector at a time. + /// If you wish to pick up an object with both hands, see the Interaction PickUp2Handed demo scene. + /// + [Tooltip("If true, the object will be parented to the effector bone on this event. Note that picking up like this can be done by only a single effector at a time. If you wish to pick up an object with both hands, see the Interaction PickUp2Handed demo scene.")] + public bool pickUp; + /// + /// The animations called on this event. + /// + [Tooltip("The animations called on this event.")] + public AnimatorEvent[] animations; + /// + /// The messages sent on this event using GameObject.SendMessage(). + /// + [Tooltip("The messages sent on this event using GameObject.SendMessage().")] + public Message[] messages; + + [TooltipAttribute("The UnityEvent to invoke on this event.")] + /// + /// The UnityEvent to invoke on this event. + /// + public UnityEvent unityEvent; + + // Activates this event + public void Activate(Transform t) { + unityEvent.Invoke(); + foreach (AnimatorEvent e in animations) e.Activate(pickUp); + foreach (Message m in messages) m.Send(t); + } + } + + /// + /// Definition of a message sent by an InteractionEvent. + /// + [System.Serializable] + public class Message { + + /// + /// The name of the function called. + /// + [Tooltip("The name of the function called.")] + public string function; + /// + /// The recipient game object. + /// + [Tooltip("The recipient game object.")] + public GameObject recipient; + + private const string empty = ""; + + // Sends the message to the recipient + public void Send(Transform t) { + if (recipient == null) return; + if (function == string.Empty || function == empty) return; + + recipient.SendMessage(function, t, SendMessageOptions.RequireReceiver); + } + } + + /// + /// Calls an animation on an interaction event. + /// + [System.Serializable] + public class AnimatorEvent { + + /// + /// The Animator component that will receive the AnimatorEvents. + /// + [Tooltip("The Animator component that will receive the AnimatorEvents.")] + public Animator animator; + /// + /// The Animation component that will receive the AnimatorEvents (Legacy). + /// + [Tooltip("The Animation component that will receive the AnimatorEvents (Legacy).")] + public Animation animation; + /// + /// The name of the animation state. + /// + [Tooltip("The name of the animation state.")] + public string animationState; + /// + /// The crossfading time. + /// + [Tooltip("The crossfading time.")] + public float crossfadeTime = 0.3f; + /// + /// The layer of the animation state (if using Legacy, the animation state will be forced to this layer). + /// + [Tooltip("The layer of the animation state (if using Legacy, the animation state will be forced to this layer).")] + public int layer; + /// + /// Should the animation always start from 0 normalized time? + /// + [Tooltip("Should the animation always start from 0 normalized time?")] + public bool resetNormalizedTime; + + private const string empty = ""; + + // Activate the animation + public void Activate(bool pickUp) { + if (animator != null) { + // disable root motion because it may become a child of another Animator. Workaround for a Unity bug with an error message: "Transform.rotation on 'gameobject name' is no longer valid..." + if (pickUp) animator.applyRootMotion = false; + Activate(animator); + } + if (animation != null) Activate(animation); + } + + // Activate a Mecanim animation + private void Activate(Animator animator) { + if (animationState == empty) return; + + if (resetNormalizedTime) animator.CrossFade(animationState, crossfadeTime, layer, 0f); + else animator.CrossFade(animationState, crossfadeTime, layer); + } + + // Activate a Legacy animation + private void Activate(Animation animation) { + if (animationState == empty) return; + + if (resetNormalizedTime) animation[animationState].normalizedTime = 0f; + + animation[animationState].layer = layer; + + animation.CrossFade(animationState, crossfadeTime); + } + } + + /// + /// A Weight curve for various FBBIK channels. + /// + [System.Serializable] + public class WeightCurve { + + /// + /// The type of the weight curve + /// + [System.Serializable] + public enum Type { + PositionWeight, // IKEffector.positionWeight + RotationWeight, // IKEffector.rotationWeight + PositionOffsetX, // X offset from the interpolation direction relative to the character rotation + PositionOffsetY, // Y offse from the interpolation direction relative to the character rotation + PositionOffsetZ, // Z offset from the interpolation direction relative to the character rotation + Pull, // FBIKChain.pull + Reach, // FBIKChain.reach + RotateBoneWeight, // Rotating the bone after FBBIK is finished + Push, // FBIKChain.push + PushParent, // FBIKChain.pushParent + PoserWeight, // Weight of hand/generic Poser + BendGoalWeight // Weight of the bend goal + } + + /// + /// The type of the curve (InteractionObject.WeightCurve.Type). + /// + [Tooltip("The type of the curve (InteractionObject.WeightCurve.Type).")] + public Type type; + /// + /// The weight curve. + /// + [Tooltip("The weight curve.")] + public AnimationCurve curve; + + // Evaluate the curve at the specified time + public float GetValue(float timer) { + return curve.Evaluate(timer); + } + } + + /// + /// Multiplies a weight curve and uses the result for another FBBIK channel. (to reduce the amount of work with AnimationCurves) + /// + [System.Serializable] + public class Multiplier { + + /// + /// The curve type to multiply. + /// + [Tooltip("The curve type to multiply.")] + public WeightCurve.Type curve; + /// + /// The multiplier of the curve's value. + /// + [Tooltip("The multiplier of the curve's value.")] + public float multiplier = 1f; + /// + /// The resulting value will be applied to this channel. + /// + [Tooltip("The resulting value will be applied to this channel.")] + public WeightCurve.Type result; + + // Get the multiplied value of the curve at the specified time + public float GetValue(WeightCurve weightCurve, float timer) { + return weightCurve.GetValue(timer) * multiplier; + } + } + + /// + /// If the Interaction System has a 'Look At' LookAtIK component assigned, will use it to make the character look at the specified Transform. If unassigned, will look at this GameObject. + /// + [Tooltip("If the Interaction System has a 'Look At' LookAtIK component assigned, will use it to make the character look at the specified Transform. If unassigned, will look at this GameObject.")] + public Transform otherLookAtTarget; + /// + /// The root Transform of the InteractionTargets. If null, will use this GameObject. GetComponentsInChildren() will be used at initiation to find all InteractionTargets associated with this InteractionObject. + /// + [Tooltip("The root Transform of the InteractionTargets. If null, will use this GameObject. GetComponentsInChildren() will be used at initiation to find all InteractionTargets associated with this InteractionObject.")] + public Transform otherTargetsRoot; + /// + /// If assigned, all PositionOffset channels will be applied in the rotation space of this Transform. If not, they will be in the rotation space of the character. + /// + [Tooltip("If assigned, all PositionOffset channels will be applied in the rotation space of this Transform. If not, they will be in the rotation space of the character.")] + public Transform positionOffsetSpace; + /// + /// The weight curves for the interaction. + /// + public WeightCurve[] weightCurves; + /// + /// The weight curve multipliers for the interaction. + /// + public Multiplier[] multipliers; + /// + /// The interaction events. + /// + public InteractionEvent[] events; + /// + /// Gets the length of the interaction (the longest curve). + /// + public float length { get; private set; } + /// + /// The last InteractionSystem that started an interaction with this InteractionObject. + /// + /// The last used interaction system. + public InteractionSystem lastUsedInteractionSystem { get; private set; } + + /// + /// Call if you have changed the curves in play mode or added/removed InteractionTargets. + /// + public void Initiate() { + // Push length to the last weight curve key + for (int i = 0; i < weightCurves.Length; i++) { + if (weightCurves[i].curve.length > 0) { + float l = weightCurves[i].curve.keys[weightCurves[i].curve.length - 1].time; + length = Mathf.Clamp(length, l, length); + } + } + + // Push length to the last event time + for (int i = 0; i < events.Length; i++) { + length = Mathf.Clamp(length, events[i].time, length); + } + + targets = targetsRoot.GetComponentsInChildren(); + } + + /// + /// Gets the look at target (returns otherLookAtTarget if not null). + /// + public Transform lookAtTarget { + get { + if (otherLookAtTarget != null) return otherLookAtTarget; + return transform; + } + } + + /// + /// Gets the InteractionTarget of the specified effector type and InteractionSystem tag. + /// + public InteractionTarget GetTarget(FullBodyBipedEffector effectorType, InteractionSystem interactionSystem) { + if (string.IsNullOrEmpty(interactionSystem.tag)) { + foreach (InteractionTarget target in targets) { + if (target.effectorType == effectorType) return target; + } + + return null; + } + + foreach (InteractionTarget target in targets) { + if (target.effectorType == effectorType && target.CompareTag(interactionSystem.tag)) return target; + } + + return null; + } + + #endregion Main Interface + + // Returns true if the specified WeightCurve.Type is used by this InteractionObject + public bool CurveUsed(WeightCurve.Type type) { + foreach (WeightCurve curve in weightCurves) { + if (curve.type == type) return true; + } + foreach (Multiplier multiplier in multipliers) { + if (multiplier.result == type) return true; + } + return false; + } + + // Returns all the InteractionTargets of this object + public InteractionTarget[] GetTargets() { + return targets; + } + + // Returns the InteractionTarget of effector type and tag + public Transform GetTarget(FullBodyBipedEffector effectorType, string tag) { + if (tag == string.Empty || tag == "") return GetTarget(effectorType); + + for (int i = 0; i < targets.Length; i++) { + if (targets[i].effectorType == effectorType && targets[i].CompareTag(tag)) return targets[i].transform; + } + + return transform; + } + + // Called when interaction is started with this InteractionObject + public void OnStartInteraction(InteractionSystem interactionSystem) { + this.lastUsedInteractionSystem = interactionSystem; + } + + // Applies the weight curves and multipliers to the FBBIK solver + public void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, InteractionTarget target, float timer, float weight, bool isPaused) { + + for (int i = 0; i < weightCurves.Length; i++) { + if (isPaused) + { + if (weightCurves[i].type == WeightCurve.Type.PositionOffsetX) continue; + if (weightCurves[i].type == WeightCurve.Type.PositionOffsetY) continue; + if (weightCurves[i].type == WeightCurve.Type.PositionOffsetZ) continue; + } + + float mlp = target == null? 1f: target.GetValue(weightCurves[i].type); + + Apply(solver, effector, weightCurves[i].type, weightCurves[i].GetValue(timer), weight * mlp); + } + + for (int i = 0; i < multipliers.Length; i++) { + if (isPaused) + { + if (multipliers[i].result == WeightCurve.Type.PositionOffsetX) continue; + if (multipliers[i].result == WeightCurve.Type.PositionOffsetY) continue; + if (multipliers[i].result == WeightCurve.Type.PositionOffsetZ) continue; + } + + if (multipliers[i].curve == multipliers[i].result) { + if (!Warning.logged) Warning.Log("InteractionObject Multiplier 'Curve' " + multipliers[i].curve.ToString() + "and 'Result' are the same.", transform); + } + + int curveIndex = GetWeightCurveIndex(multipliers[i].curve); + + if (curveIndex != -1) { + float mlp = target == null? 1f: target.GetValue(multipliers[i].result); + + Apply(solver, effector, multipliers[i].result, multipliers[i].GetValue(weightCurves[curveIndex], timer), weight * mlp); + } else { + if (!Warning.logged) Warning.Log("InteractionObject Multiplier curve " + multipliers[i].curve.ToString() + "does not exist.", transform); + } + } + } + + // Gets the value of a weight curve/multiplier + public float GetValue(WeightCurve.Type weightCurveType, InteractionTarget target, float timer) { + int index = GetWeightCurveIndex(weightCurveType); + + if (index != -1) { + float mlp = target == null? 1f: target.GetValue(weightCurveType); + + return weightCurves[index].GetValue(timer) * mlp; + } + + for (int i = 0; i < multipliers.Length; i++) { + if (multipliers[i].result == weightCurveType) { + + int wIndex = GetWeightCurveIndex(multipliers[i].curve); + if (wIndex != -1) { + float mlp = target == null? 1f: target.GetValue(multipliers[i].result); + + return multipliers[i].GetValue(weightCurves[wIndex], timer) * mlp; + } + } + } + + return 0f; + } + + // Get the root Transform of the targets + public Transform targetsRoot { + get { + if (otherTargetsRoot != null) return otherTargetsRoot; + return transform; + } + } + + private InteractionTarget[] targets = new InteractionTarget[0]; + + // Initiate this Interaction Object + void Start() { + Initiate(); + } + + // Apply the curve to the specified solver, effector, with the value and weight. + private void Apply(IKSolverFullBodyBiped solver, FullBodyBipedEffector effector, WeightCurve.Type type, float value, float weight) + { + switch (type) + { + case WeightCurve.Type.PositionWeight: + solver.GetEffector(effector).positionWeight = Mathf.Lerp(solver.GetEffector(effector).positionWeight, value, weight); + return; + case WeightCurve.Type.RotationWeight: + solver.GetEffector(effector).rotationWeight = Mathf.Lerp(solver.GetEffector(effector).rotationWeight, value, weight); + return; + case WeightCurve.Type.PositionOffsetX: + Vector3 xOffset = (positionOffsetSpace != null ? positionOffsetSpace.rotation : solver.GetRoot().rotation) * Vector3.right * value; + solver.GetEffector(effector).position += xOffset * weight; + //solver.GetEffector(effector).positionOffset += xOffset; + return; + case WeightCurve.Type.PositionOffsetY: + Vector3 yOffset = (positionOffsetSpace != null ? positionOffsetSpace.rotation : solver.GetRoot().rotation) * Vector3.up * value; + solver.GetEffector(effector).position += yOffset * weight; + //solver.GetEffector(effector).positionOffset += yOffset; + return; + case WeightCurve.Type.PositionOffsetZ: + Vector3 zOffset = (positionOffsetSpace != null ? positionOffsetSpace.rotation : solver.GetRoot().rotation) * Vector3.forward * value; + solver.GetEffector(effector).position += zOffset * weight; + //solver.GetEffector(effector).positionOffset += zOffset; + return; + case WeightCurve.Type.Pull: + solver.GetChain(effector).pull = Mathf.Lerp(solver.GetChain(effector).pull, value, weight); + return; + case WeightCurve.Type.Reach: + solver.GetChain(effector).reach = Mathf.Lerp(solver.GetChain(effector).reach, value, weight); + return; + case WeightCurve.Type.Push: + solver.GetChain(effector).push = Mathf.Lerp(solver.GetChain(effector).push, value, weight); + return; + case WeightCurve.Type.PushParent: + solver.GetChain(effector).pushParent = Mathf.Lerp(solver.GetChain(effector).pushParent, value, weight); + return; + case WeightCurve.Type.BendGoalWeight: + solver.GetChain(effector).bendConstraint.weight = Mathf.Lerp(solver.GetChain(effector).bendConstraint.weight, value, weight); + return; + } + } + + // Gets the interaction target Transform + private Transform GetTarget(FullBodyBipedEffector effectorType) { + for (int i = 0; i < targets.Length; i++) { + if (targets[i].effectorType == effectorType) return targets[i].transform; + } + return transform; + } + + // Get the index of a weight curve of type + private int GetWeightCurveIndex(WeightCurve.Type weightCurveType) { + for (int i = 0; i < weightCurves.Length; i++) { + if (weightCurves[i].type == weightCurveType) return i; + } + return -1; + } + + // Get the index of a multiplayer of type + private int GetMultiplierIndex(WeightCurve.Type weightCurveType) { + for (int i = 0; i < multipliers.Length; i++) { + if (multipliers[i].result == weightCurveType) return i; + } + return -1; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs.meta new file mode 100644 index 00000000..a68dffb8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionObject.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 41f425a4a83914b04af3f1642c000f5d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 9e5cf919254ee4d6bb9ccd7dc1b4bebd, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs new file mode 100644 index 00000000..3580277c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs @@ -0,0 +1,926 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using UnityEngine.Serialization; + +namespace RootMotion.FinalIK { + + /// + /// Handles FBBIK interactions for a character. + /// + [HelpURL("https://www.youtube.com/watch?v=r5jiZnsDH3M")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Interaction System/Interaction System")] + public class InteractionSystem : MonoBehaviour { + + // Open the User Manual URL + [ContextMenu("User Manual")] + void OpenUserManual() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page10.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + void OpenScriptReference() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_interaction_system.html"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 1: BASICS)")] + void OpenTutorial1() { + Application.OpenURL("https://www.youtube.com/watch?v=r5jiZnsDH3M"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 2: PICKING UP...)")] + void OpenTutorial2() { + Application.OpenURL("https://www.youtube.com/watch?v=eP9-zycoHLk"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 3: ANIMATION)")] + void OpenTutorial3() { + Application.OpenURL("https://www.youtube.com/watch?v=sQfB2RcT1T4&index=14&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 4: TRIGGERS)")] + void OpenTutorial4() { + Application.OpenURL("https://www.youtube.com/watch?v=-TDZpNjt2mk&index=15&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// If not empty, only the targets with the specified tag will be used by this Interaction System. + /// + [Tooltip("If not empty, only the targets with the specified tag will be used by this Interaction System.")] + public string targetTag = ""; + /// + /// The fade in time of the interaction. + /// + [Tooltip("The fade in time of the interaction.")] + public float fadeInTime = 0.3f; + /// + /// The master speed for all interactions. + /// + [Tooltip("The master speed for all interactions.")] + public float speed = 1f; + + /// + /// The speed of blending from previous interaction to current interaction if an ongoing interaction has been interrupted by another interaction. + /// + [Tooltip("The speed of blending from previous interaction to current interaction if an ongoing interaction has been interrupted by another interaction.")] + public float switchInteractionSpeed = 3f; + + /// + /// If > 0, lerps all the FBBIK channels used by the Interaction System back to their default or initial values when not in interaction. + /// + [Tooltip("If > 0, lerps all the FBBIK channels used by the Interaction System back to their default or initial values when not in interaction.")] + public float resetToDefaultsSpeed = 1f; + + [Header("Triggering")] + /// + /// The collider that registers OnTriggerEnter and OnTriggerExit events with InteractionTriggers. + /// + [Tooltip("The collider that registers OnTriggerEnter and OnTriggerExit events with InteractionTriggers.")] + [FormerlySerializedAs("collider")] + public Collider characterCollider; + /// + /// Will be used by Interaction Triggers that need the camera's position. Assign the first person view character camera. + /// + [Tooltip("Will be used by Interaction Triggers that need the camera's position. Assign the first person view character camera.")] + [FormerlySerializedAs("camera")] + public Transform FPSCamera; + /// + /// The layers that will be raycasted from the camera (along camera.forward). All InteractionTrigger look at target colliders should be included. + /// + [Tooltip("The layers that will be raycasted from the camera (along camera.forward). All InteractionTrigger look at target colliders should be included.")] + public LayerMask camRaycastLayers; + /// + /// Max distance of raycasting from the camera. + /// + [Tooltip("Max distance of raycasting from the camera.")] + public float camRaycastDistance = 1f; + + /// + /// Returns true if any of the effectors is in interaction and not paused. + /// + public bool inInteraction { + get { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].inInteraction && !interactionEffectors[i].isPaused) return true; + } + return false; + } + } + + /// + /// Determines whether this effector is interaction and not paused + /// + public bool IsInInteraction(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].inInteraction && !interactionEffectors[i].isPaused; + } + } + return false; + } + + /// + /// Determines whether this effector is paused + /// + public bool IsPaused(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].inInteraction && interactionEffectors[i].isPaused; + } + } + return false; + } + + /// + /// Returns true if any of the effectors is paused + /// + public bool IsPaused() { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].inInteraction && interactionEffectors[i].isPaused) return true; + } + return false; + } + + /// + /// Returns true if either all effectors in interaction are paused or none is. + /// + public bool IsInSync() { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].isPaused) { + for (int n = 0; n < interactionEffectors.Length; n++) { + if (n != i && interactionEffectors[n].inInteraction && !interactionEffectors[n].isPaused) return false; + } + } + } + + return true; + } + + /// + /// Starts the interaction between an effector and an interaction object. + /// + public bool StartInteraction(FullBodyBipedEffector effectorType, InteractionObject interactionObject, bool interrupt) { + if (!IsValid(true)) return false; + + if (interactionObject == null) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].Start(interactionObject, targetTag, fadeInTime, interrupt); + } + } + + return false; + } + + /// + /// Starts the interaction between an effector and an interaction object, choosing InteractionTarget that is closest to current rotation of the effector. + /// + public bool StartInteractionWithClosestTarget(FullBodyBipedEffector effectorType, InteractionObject interactionObject, bool interrupt) + { + if (!IsValid(true)) return false; + + if (interactionObject == null) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) + { + if (interactionEffectors[i].effectorType == effectorType) + { + int closestTargetIndex = GetClosestTargetIndex(effectorType, interactionObject); + if (closestTargetIndex == -1) continue; + + return interactionEffectors[i].Start(interactionObject, interactionObject.GetTargets()[i], fadeInTime, interrupt); + } + } + + return false; + } + + private int GetClosestTargetIndex(FullBodyBipedEffector effectorType, InteractionObject obj) + { + int index = -1; + float closestAngle = Mathf.Infinity; + Quaternion handRot = ik.solver.GetEffector(effectorType).bone.rotation; + for (int i = 0; i < obj.GetTargets().Length; i++) + { + float angle = Quaternion.Angle(handRot, obj.GetTargets()[i].transform.rotation); + if (angle < closestAngle) + { + closestAngle = angle; + index = i; + } + } + return index; + } + + + /// + /// Starts the interaction between an effector and a specific interaction target. + /// + public bool StartInteraction(FullBodyBipedEffector effectorType, InteractionObject interactionObject, InteractionTarget target, bool interrupt) + { + if (!IsValid(true)) return false; + + if (interactionObject == null) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) + { + if (interactionEffectors[i].effectorType == effectorType) + { + return interactionEffectors[i].Start(interactionObject, target, fadeInTime, interrupt); + } + } + + return false; + } + + /// + /// Pauses the interaction of an effector. + /// + public bool PauseInteraction(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].Pause(); + } + } + + return false; + } + + /// + /// Resumes the paused interaction of an effector. + /// + public bool ResumeInteraction(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].Resume(); + } + } + + return false; + } + + /// + /// Stops the interaction of an effector. + /// + public bool StopInteraction(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return false; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].Stop(); + } + } + + return false; + } + + /// + /// Pauses all the interaction effectors. + /// + public void PauseAll() { + if (!IsValid(true)) return; + + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].Pause(); + } + + /// + /// Resumes all the paused interaction effectors. + /// + public void ResumeAll() { + if (!IsValid(true)) return; + + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].Resume(); + } + + /// + /// Stops all interactions. + /// + public void StopAll() { + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].Stop(); + } + + /// + /// Gets the current interaction object of an effector. + /// + public InteractionObject GetInteractionObject(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return null; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].interactionObject; + } + } + return null; + } + + /// + /// Gets the progress of any interaction with the specified effector. + /// + public float GetProgress(FullBodyBipedEffector effectorType) { + if (!IsValid(true)) return 0f; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].effectorType == effectorType) { + return interactionEffectors[i].progress; + } + } + return 0f; + } + + /// + /// Gets the minimum progress of any active interaction + /// + public float GetMinActiveProgress() { + if (!IsValid(true)) return 0f; + float min = 1f; + + for (int i = 0; i < interactionEffectors.Length; i++) { + if (interactionEffectors[i].inInteraction) { + float p = interactionEffectors[i].progress; + if (p > 0f && p < min) min = p; + } + } + + return min; + } + + /// + /// Triggers all interactions of an InteractionTrigger. Returns false if unsuccessful (maybe out of range). + /// + public bool TriggerInteraction(int index, bool interrupt) { + if (!IsValid(true)) return false; + + if (!TriggerIndexIsValid(index)) return false; + + bool all = true; + + var range = triggersInRange[index].ranges[bestRangeIndexes[index]]; + + for (int i = 0; i < range.interactions.Length; i++) { + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + bool s = StartInteraction(range.interactions[i].effectors[e], range.interactions[i].interactionObject, interrupt); + if (!s) all = false; + } + } + + return all; + } + + /// + /// Triggers all interactions of an InteractionTrigger. Returns false if unsuccessful (maybe out of range). + /// + public bool TriggerInteraction(int index, bool interrupt, out InteractionObject interactionObject) { + interactionObject = null; + if (!IsValid(true)) return false; + + if (!TriggerIndexIsValid(index)) return false; + + bool all = true; + + var range = triggersInRange[index].ranges[bestRangeIndexes[index]]; + + for (int i = 0; i < range.interactions.Length; i++) { + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + interactionObject = range.interactions[i].interactionObject; + bool s = StartInteraction(range.interactions[i].effectors[e], interactionObject, interrupt); + if (!s) all = false; + } + } + + return all; + } + + /// + /// Triggers all interactions of an InteractionTrigger. Returns false if unsuccessful (maybe out of range). + /// + public bool TriggerInteraction(int index, bool interrupt, out InteractionTarget interactionTarget) { + interactionTarget = null; + if (!IsValid(true)) return false; + + if (!TriggerIndexIsValid(index)) return false; + + bool all = true; + + var range = triggersInRange[index].ranges[bestRangeIndexes[index]]; + + for (int i = 0; i < range.interactions.Length; i++) { + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + var interactionObject = range.interactions[i].interactionObject; + var t = interactionObject.GetTarget(range.interactions[i].effectors[e], tag); + if (t != null) interactionTarget = t.GetComponent(); + bool s = StartInteraction(range.interactions[i].effectors[e], interactionObject, interrupt); + if (!s) all = false; + } + } + + return all; + } + + /// + /// Gets the closest InteractionTrigger Range. + /// + public InteractionTrigger.Range GetClosestInteractionRange() { + if (!IsValid(true)) return null; + + int index = GetClosestTriggerIndex(); + if (index < 0 || index >= triggersInRange.Count) return null; + + return triggersInRange[index].ranges[bestRangeIndexes[index]]; + } + + /// + /// Gets the closest InteractionObject in range. + /// + public InteractionObject GetClosestInteractionObjectInRange() { + var range = GetClosestInteractionRange(); + if (range == null) return null; + return range.interactions[0].interactionObject; + } + + /// + /// Gets the closest InteractionTarget in range. + /// + public InteractionTarget GetClosestInteractionTargetInRange() { + var range = GetClosestInteractionRange(); + if (range == null) return null; + return range.interactions[0].interactionObject.GetTarget(range.interactions[0].effectors[0], this); + } + + /// + /// Gets the closest InteractionObjects in range. + /// + public InteractionObject[] GetClosestInteractionObjectsInRange() { + var range = GetClosestInteractionRange(); + if (range == null) return new InteractionObject[0]; + + InteractionObject[] objects = new InteractionObject[range.interactions.Length]; + + for (int i = 0; i < range.interactions.Length; i++) { + objects[i] = range.interactions[i].interactionObject; + } + + return objects; + } + + /// + /// Gets the closest InteractionTargets in range. + /// + public InteractionTarget[] GetClosestInteractionTargetsInRange() { + var range = GetClosestInteractionRange(); + if (range == null) return new InteractionTarget[0]; + + List targets = new List(); + + foreach (InteractionTrigger.Range.Interaction interaction in range.interactions) { + foreach (FullBodyBipedEffector effectorType in interaction.effectors) { + targets.Add (interaction.interactionObject.GetTarget(effectorType, this)); + } + } + + return (InteractionTarget[])targets.ToArray(); + } + + /// + /// Returns true if all effectors of a trigger are either not in interaction or paused + /// + public bool TriggerEffectorsReady(int index) { + if (!IsValid(true)) return false; + + if (!TriggerIndexIsValid(index)) return false; + + for (int r = 0; r < triggersInRange[index].ranges.Length; r++) { + var range = triggersInRange[index].ranges[r]; + + for (int i = 0; i < range.interactions.Length; i++) { + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + if (IsInInteraction(range.interactions[i].effectors[e])) return false; + } + } + + for (int i = 0; i < range.interactions.Length; i++) { + for (int e = 0; e < range.interactions[i].effectors.Length; e++) { + if (IsPaused(range.interactions[i].effectors[e])) { + for (int n = 0; n < range.interactions[i].effectors.Length; n++) { + if (n != e && !IsPaused(range.interactions[i].effectors[n])) return false; + } + } + } + } + } + + return true; + } + + /// + /// Return the current most appropriate range of an InteractionTrigger listed in triggersInRange. + /// + public InteractionTrigger.Range GetTriggerRange(int index) { + if (!IsValid(true)) return null; + + if (index < 0 || index >= bestRangeIndexes.Count) { + Warning.Log("Index out of range.", transform); + return null; + } + + return triggersInRange[index].ranges[bestRangeIndexes[index]]; + } + + /// + /// Returns the InteractionTrigger that is in range and closest to the character. + /// + public int GetClosestTriggerIndex() { + if (!IsValid(true)) return -1; + + if (triggersInRange.Count == 0) return -1; + if (triggersInRange.Count == 1) return 0; + + int closest = -1; + float closestSqrMag = Mathf.Infinity; + + for (int i = 0; i < triggersInRange.Count; i++) { + if (triggersInRange[i] != null) { + float sqrMag = Vector3.SqrMagnitude(triggersInRange[i].transform.position - transform.position); + + if (sqrMag < closestSqrMag) { + closest = i; + closestSqrMag = sqrMag; + } + } + } + + return closest; + } + + /// + /// Store the default values to which the interaction effectors will be reset to after interactions have ended. + /// + public void StoreDefaults() + { + for (int i = 0; i < interactionEffectors.Length; i++) + { + interactionEffectors[i].StoreDefaults(); + } + } + + /// + /// Gets the FullBodyBipedIK component. + /// + public FullBodyBipedIK ik { + get { + return fullBody; + } + set { + fullBody = value; + } + } + + /// + /// Gets the in contact. + /// + /// The in contact. + public List triggersInRange { get; private set; } + private List inContact = new List(); + private List bestRangeIndexes = new List(); + + /// + /// Interaction delegate + /// + public delegate void InteractionDelegate(FullBodyBipedEffector effectorType, InteractionObject interactionObject); + /// + /// Interaction event delegate + /// + public delegate void InteractionEventDelegate(FullBodyBipedEffector effectorType, InteractionObject interactionObject, InteractionObject.InteractionEvent interactionEvent); + + /// + /// Called when an InteractionEvent has been started + /// + public InteractionDelegate OnInteractionStart; + /// + /// Called when an Interaction has been paused + /// + public InteractionDelegate OnInteractionPause; + /// + /// Called when an InteractionObject has been picked up. + /// + public InteractionDelegate OnInteractionPickUp; + /// + /// Called when a paused Interaction has been resumed + /// + public InteractionDelegate OnInteractionResume; + /// + /// Called when an Interaction has been stopped + /// + public InteractionDelegate OnInteractionStop; + /// + /// Called when an interaction event occurs. + /// + public InteractionEventDelegate OnInteractionEvent; + /// + /// Gets the RaycastHit from trigger seeking. + /// + /// The hit. + public RaycastHit raycastHit; + + #endregion Main Interface + + [Space(10)] + + [Tooltip("Reference to the FBBIK component.")] + [SerializeField] FullBodyBipedIK fullBody; // Reference to the FBBIK component. + + /// + /// Handles looking at the interactions. + /// + [Tooltip("Handles looking at the interactions.")] + public InteractionLookAt lookAt = new InteractionLookAt(); + + // The array of Interaction Effectors + private InteractionEffector[] interactionEffectors = new InteractionEffector[9] { + new InteractionEffector(FullBodyBipedEffector.Body), + new InteractionEffector(FullBodyBipedEffector.LeftFoot), + new InteractionEffector(FullBodyBipedEffector.LeftHand), + new InteractionEffector(FullBodyBipedEffector.LeftShoulder), + new InteractionEffector(FullBodyBipedEffector.LeftThigh), + new InteractionEffector(FullBodyBipedEffector.RightFoot), + new InteractionEffector(FullBodyBipedEffector.RightHand), + new InteractionEffector(FullBodyBipedEffector.RightShoulder), + new InteractionEffector(FullBodyBipedEffector.RightThigh) + }; + + public bool initiated { get; private set; } + private Collider lastCollider, c; + private float lastTime; + + // Initiate + public void Start() { + if (fullBody == null) fullBody = GetComponent(); + //Debug.Log(fullBody); + if (fullBody == null) { + Warning.Log("InteractionSystem can not find a FullBodyBipedIK component", transform); + return; + } + + // Add to the FBBIK OnPostUpdate delegate to get a call when it has finished updating + fullBody.solver.OnPreUpdate += OnPreFBBIK; + fullBody.solver.OnPostUpdate += OnPostFBBIK; + fullBody.solver.OnFixTransforms += OnFixTransforms; + OnInteractionStart += LookAtInteraction; + OnInteractionPause += InteractionPause; + OnInteractionResume += InteractionResume; + OnInteractionStop += InteractionStop; + + foreach (InteractionEffector e in interactionEffectors) e.Initiate(this); + + triggersInRange = new List(); + + c = GetComponent(); + UpdateTriggerEventBroadcasting(); + + initiated = true; + } + + private void InteractionPause(FullBodyBipedEffector effector, InteractionObject interactionObject) { + lookAt.isPaused = true; + } + + private void InteractionResume(FullBodyBipedEffector effector, InteractionObject interactionObject) { + lookAt.isPaused = false; + } + + private void InteractionStop(FullBodyBipedEffector effector, InteractionObject interactionObject) { + lookAt.isPaused = false; + + } + + // Called by the delegate + private void LookAtInteraction(FullBodyBipedEffector effector, InteractionObject interactionObject) { + lookAt.Look(interactionObject.lookAtTarget, Time.time + (interactionObject.length * 0.5f)); + } + + public void OnTriggerEnter(Collider c) { + if (fullBody == null) return; + + var trigger = c.GetComponent(); + + if (trigger == null) return; + if (inContact.Contains(trigger)) return; + + inContact.Add(trigger); + } + + public void OnTriggerExit(Collider c) { + if (fullBody == null) return; + + var trigger = c.GetComponent(); + if (trigger == null) return; + + inContact.Remove(trigger); + } + + // Is the InteractionObject trigger in range of any effectors? If the trigger collider is bigger than any effector ranges, then the object in contact is still unreachable. + private bool ContactIsInRange(int index, out int bestRangeIndex) { + bestRangeIndex = -1; + + if (!IsValid(true)) return false; + + if (index < 0 || index >= inContact.Count) { + Warning.Log("Index out of range.", transform); + return false; + } + + if (inContact[index] == null) { + Warning.Log("The InteractionTrigger in the list 'inContact' has been destroyed", transform); + return false; + } + + bestRangeIndex = inContact[index].GetBestRangeIndex(transform, FPSCamera, raycastHit); + if (bestRangeIndex == -1) return false; + + return true; + } + + // Using this to assign some default values in Editor + void OnDrawGizmosSelected() { + if (Application.isPlaying) return; + + if (fullBody == null) fullBody = GetComponent(); + if (characterCollider == null) characterCollider = GetComponent(); + } + + public void Update() { + if (fullBody == null) return; + + UpdateTriggerEventBroadcasting(); + + Raycasting(); + + // Finding the triggers in contact and in range + triggersInRange.Clear(); + bestRangeIndexes.Clear(); + + for (int i = 0; i < inContact.Count; i++) { + int bestRangeIndex = -1; + + if (inContact[i] != null && inContact[i].gameObject.activeInHierarchy && ContactIsInRange(i, out bestRangeIndex)) { + triggersInRange.Add(inContact[i]); + bestRangeIndexes.Add(bestRangeIndex); + } + } + + // Update LookAt + lookAt.Update(); + } + + // Finds triggers that need camera position and rotation + private void Raycasting() { + if (camRaycastLayers == -1) return; + if (FPSCamera == null) return; + + Physics.Raycast(FPSCamera.position, FPSCamera.forward, out raycastHit, camRaycastDistance, camRaycastLayers); + } + + // Update collider and TriggerEventBroadcaster + private void UpdateTriggerEventBroadcasting() { + if (characterCollider == null) characterCollider = c; + + if (characterCollider != null && characterCollider != c) { + + if (characterCollider.GetComponent() == null) { + var t = characterCollider.gameObject.AddComponent(); + t.target = gameObject; + } + + if (lastCollider != null && lastCollider != c && lastCollider != characterCollider) { + var t = lastCollider.GetComponent(); + if (t != null) Destroy(t); + } + } + + lastCollider = characterCollider; + + } + + private void OnEnable() + { + lastTime = Time.time; + } + + // Update the interaction + void UpdateEffectors() { + if (fullBody == null) return; + + float deltaTime = Time.time - lastTime; // When AnimatePhysics is used, Time.deltaTime is unusable + lastTime = Time.time; + + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].Update(transform, speed, deltaTime); + + // Switch from interaction to interaction + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].Switch(switchInteractionSpeed * speed, deltaTime); + + // Interpolate to default pull, reach values + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].ResetToDefaults(resetToDefaultsSpeed * speed, deltaTime); + } + + // Used for using LookAtIK to rotate the spine + private void OnPreFBBIK() { + //if (!enabled) return; + if (fullBody == null) return; + + lookAt.SolveSpine(); + + UpdateEffectors(); + } + + // Used for rotating the hands after FBBIK has finished + private void OnPostFBBIK() { + //if (!enabled) return; + if (fullBody == null) return; + + for (int i = 0; i < interactionEffectors.Length; i++) interactionEffectors[i].OnPostFBBIK(); + + // Update LookAtIK head + lookAt.SolveHead(); + } + + void OnFixTransforms() { + lookAt.OnFixTransforms(); + } + + // Remove the delegates + void OnDestroy() { + if (fullBody == null) return; + fullBody.solver.OnPreUpdate -= OnPreFBBIK; + fullBody.solver.OnPostUpdate -= OnPostFBBIK; + fullBody.solver.OnFixTransforms -= OnFixTransforms; + + OnInteractionStart -= LookAtInteraction; + OnInteractionPause -= InteractionPause; + OnInteractionResume -= InteractionResume; + OnInteractionStop -= InteractionStop; + } + + // Is this InteractionSystem valid and initiated + private bool IsValid(bool log) { + if (fullBody == null) { + if (log) Warning.Log("FBBIK is null. Will not update the InteractionSystem", transform); + return false; + } + if (!initiated) { + if (log) Warning.Log("The InteractionSystem has not been initiated yet.", transform); + return false; + } + return true; + } + + // Is the index of triggersInRange valid? + private bool TriggerIndexIsValid(int index) { + if (index < 0 || index >= triggersInRange.Count) { + Warning.Log("Index out of range.", transform); + return false; + } + + if (triggersInRange[index] == null) { + Warning.Log("The InteractionTrigger in the list 'inContact' has been destroyed", transform); + return false; + } + + return true; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs.meta new file mode 100644 index 00000000..ad7aa3d2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionSystem.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 537b81dc57e504256a6c74c4bcf6bca9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 5e7cd1ffcb3304ceba342d37416ceb2c, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs new file mode 100644 index 00000000..588229d1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs @@ -0,0 +1,216 @@ +using UnityEngine; +using System.Collections; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// The target of an effector in the InteractionSystem. + /// + [HelpURL("https://www.youtube.com/watch?v=r5jiZnsDH3M")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Interaction System/Interaction Target")] + public class InteractionTarget : MonoBehaviour { + + [System.Serializable] + public enum RotationMode + { + TwoDOF = 0, + ThreeDOF = 1 + } + + // Open the User Manual URL + [ContextMenu("User Manual")] + void OpenUserManual() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page10.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + void OpenScriptReference() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_interaction_target.html"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 1: BASICS)")] + void OpenTutorial1() { + Application.OpenURL("https://www.youtube.com/watch?v=r5jiZnsDH3M"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 2: PICKING UP...)")] + void OpenTutorial2() { + Application.OpenURL("https://www.youtube.com/watch?v=eP9-zycoHLk"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 3: ANIMATION)")] + void OpenTutorial3() { + Application.OpenURL("https://www.youtube.com/watch?v=sQfB2RcT1T4&index=14&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO (PART 4: TRIGGERS)")] + void OpenTutorial4() { + Application.OpenURL("https://www.youtube.com/watch?v=-TDZpNjt2mk&index=15&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// Multiplies the value of a weight curve for this effector target. + /// + [System.Serializable] + public class Multiplier { + /// + /// The curve type (InteractionObject.WeightCurve.Type). + /// + [Tooltip("The curve type (InteractionObject.WeightCurve.Type).")] + public InteractionObject.WeightCurve.Type curve; + /// + /// Multiplier of the curve's value. + /// + [Tooltip("Multiplier of the curve's value.")] + public float multiplier; + } + + /// + /// The type of the FBBIK effector. + /// + [Tooltip("The type of the FBBIK effector.")] + public FullBodyBipedEffector effectorType; + /// + /// InteractionObject weight curve multipliers for this effector target. + /// + [Tooltip("InteractionObject weight curve multipliers for this effector target.")] + public Multiplier[] multipliers; + /// + /// The interaction speed multiplier for this effector. This can be used to make interactions faster/slower for specific effectors. + /// + [Tooltip("The interaction speed multiplier for this effector. This can be used to make interactions faster/slower for specific effectors.")] + public float interactionSpeedMlp = 1f; + /// + /// The pivot to twist/swing this interaction target about. For symmetric objects that can be interacted with from a certain angular range. + /// + [Tooltip("The pivot to twist/swing this interaction target about. For symmetric objects that can be interacted with from a certain angular range.")] + public Transform pivot; + /// + /// 2 or 3 degrees of freedom to match this InteractionTarget's rotation to the effector bone rotation. + /// + [Tooltip("2 or 3 degrees of freedom to match this InteractionTarget's rotation to the effector bone rotation.")] + public RotationMode rotationMode; + /// + /// The axis of twisting the interaction target. + /// + [Tooltip("The axis of twisting the interaction target (blue line).")] + public Vector3 twistAxis = Vector3.up; + /// + /// The weight of twisting the interaction target towards the effector bone in the start of the interaction. + /// + [Tooltip("The weight of twisting the interaction target towards the effector bone in the start of the interaction.")] + public float twistWeight = 1f; + /// + /// The weight of swinging the interaction target towards the effector bone in the start of the interaction. Swing is defined as a 3-DOF rotation around any axis, while twist is only around the twist axis. + /// + [Tooltip("The weight of swinging the interaction target towards the effector bone in the start of the interaction. Swing is defined as a 3-DOF rotation around any axis, while twist is only around the twist axis.")] + public float swingWeight; + /// + /// The weight of rotating this InteractionTarget to the effector bone in the start of the interaction (and during if 'Rotate Once' is disabled + /// + [Tooltip("The weight of rotating this InteractionTarget to the effector bone in the start of the interaction (and during if 'Rotate Once' is disabled")] + [Range(0f, 1f)] public float threeDOFWeight = 1f; + /// + /// If true, will twist/swing around the pivot only once at the start of the interaction. If false, will continue rotating throuout the whole interaction. + /// + [Tooltip("If true, will twist/swing around the pivot only once at the start of the interaction. If false, will continue rotating throuout the whole interaction.")] + public bool rotateOnce = true; + /// + /// Will not set HandPoser's pose target and allows you to use a pose target from a previous interaction if disabled. + /// + [Tooltip("Will not set HandPoser's pose target and allows you to use a pose target from a previous interaction if disabled.")] + public bool usePoser = true; + /// + /// Used only together with UniversalPoser. List of bones must match UniversalPoser's list of bones in both array size and hierarchy. + /// + [Tooltip("Used only together with UniversalPoser. List of bones must match UniversalPoser's list of bones in both array size and hierarchy.")] + public Transform[] bones = new Transform[0]; + + private Quaternion defaultLocalRotation; + private Transform lastPivot; + + // Should a curve of the Type be ignored for this effector? + public float GetValue(InteractionObject.WeightCurve.Type curveType) { + for (int i = 0; i < multipliers.Length; i++) if (multipliers[i].curve == curveType) return multipliers[i].multiplier; + return 1f; + } + + // Reset the twist and swing rotation of the target + public void ResetRotation() { + if (pivot != null) pivot.localRotation = defaultLocalRotation; + } + + // Rotate this target towards a position + public void RotateTo(Transform bone) { + if (pivot == null) return; + + if (pivot != lastPivot) { + defaultLocalRotation = pivot.localRotation; + lastPivot = pivot; + } + + // Rotate to the default local rotation + pivot.localRotation = defaultLocalRotation; + + switch (rotationMode) + { + case RotationMode.TwoDOF: + // Twisting around the twist axis + if (twistWeight > 0f) + { + Vector3 targetTangent = transform.position - pivot.position; + Vector3 n = pivot.rotation * twistAxis; + Vector3 normal = n; + Vector3.OrthoNormalize(ref normal, ref targetTangent); + + normal = n; + Vector3 direction = bone.position - pivot.position; + Vector3.OrthoNormalize(ref normal, ref direction); + + Quaternion q = QuaTools.FromToAroundAxis(targetTangent, direction, n); + pivot.rotation = Quaternion.Lerp(Quaternion.identity, q, twistWeight) * pivot.rotation; + } + + // Swinging freely + if (swingWeight > 0f) + { + Quaternion s = Quaternion.FromToRotation(transform.position - pivot.position, bone.position - pivot.position); + pivot.rotation = Quaternion.Lerp(Quaternion.identity, s, swingWeight) * pivot.rotation; + } + break; + case RotationMode.ThreeDOF: + // Free rotation around all axes + if (threeDOFWeight <= 0f) break; + Quaternion fromTo = QuaTools.FromToRotation(transform.rotation, bone.rotation); + if (threeDOFWeight >= 1f) + { + pivot.rotation = fromTo * pivot.rotation; + } else + { + pivot.rotation = Quaternion.Slerp(Quaternion.identity, fromTo, threeDOFWeight) * pivot.rotation; + } + break; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs.meta new file mode 100644 index 00000000..40f99cad --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTarget.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4c15924752853459490d29011ba18d1d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 706b88054f06c4e83ad5f34217bedea3, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs new file mode 100644 index 00000000..fdeba54e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs @@ -0,0 +1,312 @@ +using UnityEngine; +using System.Collections; +using System.Collections.Generic; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK { + + /// + /// When a character with an InteractionSystem component enters the trigger collider of this game object, this component will register itself to the InteractionSystem. + /// The InteractionSystem can then use it to find the most appropriate InteractionObject and effectors to interact with. + /// Use InteractionSystem.GetClosestTriggerIndex() and InteractionSystem.TriggerInteration() to trigger the interactions that the character is in contact with. + /// + [HelpURL("https://www.youtube.com/watch?v=-TDZpNjt2mk&index=15&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Interaction System/Interaction Trigger")] + public class InteractionTrigger: MonoBehaviour { + + // Open the User Manual URL + [ContextMenu("User Manual")] + void OpenUserManual() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page10.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + void OpenScriptReference() + { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_interaction_trigger.html"); + } + + // Open a video tutorial video + [ContextMenu("TUTORIAL VIDEO")] + void OpenTutorial4() { + Application.OpenURL("https://www.youtube.com/watch?v=-TDZpNjt2mk&index=15&list=PLVxSIA1OaTOu8Nos3CalXbJ2DrKnntMv6"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + /// + /// Defines the valid range of the character's position and rotation relative to this trigger. + /// + [System.Serializable] + public class CharacterPosition { + + /// + /// If false, will not care where the character stands, as long as it is in contact with the trigger collider. + /// + [Tooltip("If false, will not care where the character stands, as long as it is in contact with the trigger collider.")] + public bool use; + /// + /// The offset of the character's position relative to the trigger in XZ plane. Y position of the character is unlimited as long as it is contact with the collider. + /// + [Tooltip("The offset of the character's position relative to the trigger in XZ plane. Y position of the character is unlimited as long as it is contact with the collider.")] + public Vector2 offset; + /// + /// Angle offset from the default forward direction.. + /// + [Tooltip("Angle offset from the default forward direction.")] + [Range(-180f, 180f)] public float angleOffset; + /// + /// Max angular offset of the character's forward from the direction of this trigger. + /// + [Tooltip("Max angular offset of the character's forward from the direction of this trigger.")] + [Range(0f, 180f)] public float maxAngle = 45f; + /// + /// Max offset of the character's position from this range's center. + /// + [Tooltip("Max offset of the character's position from this range's center.")] + public float radius = 0.5f; + /// + /// If true, will rotate the trigger around its Y axis relative to the position of the character, so the object can be interacted with from all sides. + /// + [Tooltip("If true, will rotate the trigger around its Y axis relative to the position of the character, so the object can be interacted with from all sides.")] + public bool orbit; + /// + /// Fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object. + /// For example a gun will be able to be picked up from the same direction relative to the barrel no matter which side the gun is resting on. + /// + [Tooltip("Fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object. For example a gun will be able to be picked up from the same direction relative to the barrel no matter which side the gun is resting on.")] + public bool fixYAxis; + + // Returns the 2D offset as 3D vector. + public Vector3 offset3D { get { return new Vector3(offset.x, 0f, offset.y); }} + + // Returns the default direction of this character position in world space. + public Vector3 direction3D { + get { + return Quaternion.AngleAxis(angleOffset, Vector3.up) * Vector3.forward; + } + } + + // Is the character in range with this character position? + public bool IsInRange(Transform character, Transform trigger, out float error) { + // Do not use this character position, trigger is still valid + error = 0f; + if (!use) return true; + + // Invalid character position conditions + error = 180f; + if (radius <= 0f) return false; + if (maxAngle <= 0f) return false; + + Vector3 forward = trigger.forward; + if (fixYAxis) forward.y = 0f; + if (forward == Vector3.zero) return false; // Singularity + + Vector3 up = (fixYAxis? Vector3.up: trigger.up); + + Quaternion triggerRotation = Quaternion.LookRotation(forward, up); + + Vector3 position = trigger.position + triggerRotation * offset3D; + + Vector3 origin = orbit? trigger.position: position; + Vector3 toCharacter = character.position - origin; + Vector3.OrthoNormalize(ref up, ref toCharacter); + toCharacter *= Vector3.Project(character.position - origin, toCharacter).magnitude; + + if (orbit) { + float mag = offset.magnitude; + float dist = toCharacter.magnitude; + if (dist < mag - radius || dist > mag + radius) return false; + } else { + if (toCharacter.magnitude > radius) return false; + } + + Vector3 d = triggerRotation * direction3D; + Vector3.OrthoNormalize(ref up, ref d); + + if (orbit) { + Vector3 toPosition = position - trigger.position; + if (toPosition == Vector3.zero) toPosition = Vector3.forward; + Quaternion r = Quaternion.LookRotation(toPosition, up); + toCharacter = Quaternion.Inverse(r) * toCharacter; + + float a = Mathf.Atan2(toCharacter.x, toCharacter.z) * Mathf.Rad2Deg; + d = Quaternion.AngleAxis(a, up) * d; + } + + float angle = Vector3.Angle(d, character.forward); + if (angle > maxAngle) return false; + error = (angle / maxAngle) * 180f; + + return true; + } + } + + /// + /// Defines the valid range of the camera's position relative to this trigger. + /// + [System.Serializable] + public class CameraPosition { + + /// + /// What the camera should be looking at to trigger the interaction? + /// + [Tooltip("What the camera should be looking at to trigger the interaction? If null, this camera position will not be used.")] + public Collider lookAtTarget; + /// + /// The direction from the lookAtTarget towards the camera (in lookAtTarget's space). + /// + [Tooltip("The direction from the lookAtTarget towards the camera (in lookAtTarget's space).")] + public Vector3 direction = -Vector3.forward; + /// + /// Max distance from the lookAtTarget to the camera. + /// + [Tooltip("Max distance from the lookAtTarget to the camera.")] + public float maxDistance = 0.5f; + /// + /// Max angle between the direction and the direction towards the camera. + /// + [Tooltip("Max angle between the direction and the direction towards the camera.")] + [Range(0f, 180f)] public float maxAngle = 45f; + /// + /// Fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object. + /// + [Tooltip("Fixes the Y axis of the trigger to Vector3.up. This makes the trigger symmetrical relative to the object.")] + public bool fixYAxis; + + // Returns the rotation space of this CameraPosition. + public Quaternion GetRotation() { + Vector3 forward = lookAtTarget.transform.forward; + if (fixYAxis) forward.y = 0f; + if (forward == Vector3.zero) return Quaternion.identity; // Singularity + Vector3 up = (fixYAxis? Vector3.up: lookAtTarget.transform.up); + + return Quaternion.LookRotation(forward, up); + } + + // Is the camera raycast hit in range of this CameraPosition? + public bool IsInRange(Transform raycastFrom, RaycastHit hit, Transform trigger, out float error) { + // Not using the CameraPosition + error = 0f; + if (lookAtTarget == null) return true; + + // Not in range conditions + error = 180f; + if (raycastFrom == null) return false; + if (hit.collider != lookAtTarget) return false; + if (hit.distance > maxDistance) return false; + if (direction == Vector3.zero) return false; + if (maxDistance <= 0f) return false; + if (maxAngle <= 0f) return false; + + Vector3 d = GetRotation() * direction; + + float a = Vector3.Angle(raycastFrom.position - hit.point, d); + if (a > maxAngle) return false; + error = (a / maxAngle) * 180f; + + return true; + } + } + + /// + /// Defines the valid range of the character's and/or its camera's position for one or multiple interactions. + /// + [System.Serializable] + public class Range { + + [HideInInspector] public string name; // Name is composed automatically by InteractionTriggerInspector.cs. Editor only. + [HideInInspector] public bool show = true; // Show this range in the Scene view? Editor only. + + /// + /// Defines the interaction object and effectors that will be triggered when calling InteractionSystem.TriggerInteraction(). + /// + [System.Serializable] + public class Interaction { + /// + /// The InteractionObject to interact with. + /// + [Tooltip("The InteractionObject to interact with.")] + public InteractionObject interactionObject; + /// + /// The effectors to interact with. + /// + [Tooltip("The effectors to interact with.")] + public FullBodyBipedEffector[] effectors; + } + + /// + /// The range for the character's position and rotation. + /// + [Tooltip("The range for the character's position and rotation.")] + public CharacterPosition characterPosition; + /// + /// The range for the character camera's position and rotation. + /// + [Tooltip("The range for the character camera's position and rotation.")] + public CameraPosition cameraPosition; + + /// + /// Definitions of the interactions associated with this range. + /// + [Tooltip("Definitions of the interactions associated with this range.")] + public Interaction[] interactions; + + public bool IsInRange(Transform character, Transform raycastFrom, RaycastHit raycastHit, Transform trigger, out float maxError) { + maxError = 0f; + + float characterError = 0f; + float cameraError = 0f; + + if (!characterPosition.IsInRange(character, trigger, out characterError)) return false; + if (!cameraPosition.IsInRange(raycastFrom, raycastHit, trigger, out cameraError)) return false; + + maxError = Mathf.Max(characterError, cameraError); + + return true; + } + } + + /// + /// The valid ranges of the character's and/or its camera's position for triggering interaction when the character is in contact with the collider of this trigger. + /// + [Tooltip("The valid ranges of the character's and/or its camera's position for triggering interaction when the character is in contact with the collider of this trigger.")] + public Range[] ranges = new Range[0]; + + // Returns the index of the ranges that is best fit for the current position/rotation of the character and its camera. + public int GetBestRangeIndex(Transform character, Transform raycastFrom, RaycastHit raycastHit) { + if (GetComponent() == null) { + Warning.Log("Using the InteractionTrigger requires a Collider component.", transform); + return -1; + } + + int bestRangeIndex = -1; + float smallestError = 180f; + float error = 0f; + + for (int i = 0; i < ranges.Length; i++) { + + if (ranges[i].IsInRange(character, raycastFrom, raycastHit, transform, out error)) { + if (error <= smallestError) { + smallestError = error; + bestRangeIndex = i; + } + } + } + + return bestRangeIndex; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs.meta new file mode 100644 index 00000000..7c698bc4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/InteractionSystem/InteractionTrigger.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 271d39b80226e4699829647c96a98758 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 2a1323dcf174944a69736d167afe96e0, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers.meta new file mode 100644 index 00000000..c432d83d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 43b6761b003b743cda8f670687e26dcb +folderAsset: yes +timeCreated: 1434644306 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs new file mode 100644 index 00000000..ecde9b2f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs @@ -0,0 +1,149 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK { + + /// + /// Posing the children of a Transform to match the children of another Transform + /// + public class GenericPoser : Poser { + + /// + /// Mapping a bone to its target + /// + [System.Serializable] + public class Map { + public Transform bone; + public Transform target; + + private Vector3 defaultLocalPosition; + private Quaternion defaultLocalRotation; + + private Vector3 lerpLocalPosition; + private Quaternion lerpLocalRotation; + + // Custom constructor + public Map(Transform bone, Transform target) { + this.bone = bone; + this.target = target; + + StoreDefaultState(); + } + + public void StoreDefaultState() { + defaultLocalPosition = bone.localPosition; + defaultLocalRotation = bone.localRotation; + } + + public void StoreCurrentPose() + { + lerpLocalPosition = bone.localPosition; + lerpLocalRotation = bone.localRotation; + } + + public void FixTransform() { + bone.localPosition = defaultLocalPosition; + bone.localRotation = defaultLocalRotation; + } + + // Update mapping + public void Update(float localRotationWeight, float localPositionWeight) { + bone.localRotation = Quaternion.Lerp(bone.localRotation, target.localRotation, localRotationWeight); + bone.localPosition = Vector3.Lerp(bone.localPosition, target.localPosition, localPositionWeight); + } + + public void BlendFromLastPose(float lerpTimer) + { + bone.localPosition = Vector3.Lerp(lerpLocalPosition, bone.localPosition, lerpTimer); + bone.localRotation = Quaternion.Lerp(lerpLocalRotation, bone.localRotation, lerpTimer); + } + } + + public Map[] maps; + + /// + /// Finds mapping automatically. This requires for all children of the transform to have unique names. This method is not very memory efficient so try to avoid using it in play mode. + /// + [ContextMenu("Auto-Mapping")] + public override void AutoMapping() { + if (poseRoot == null) { + maps = new Map[0]; + return; + } + + maps = new Map[0]; + + Transform[] children = (Transform[])transform.GetComponentsInChildren(); + Transform[] poseChildren = (Transform[])poseRoot.GetComponentsInChildren(); + Transform target; + + // Find all the bone to target matches + for (int i = 1; i < children.Length; i++) { + target = GetTargetNamed(children[i].name, poseChildren); + if (target != null) { + Array.Resize(ref maps, maps.Length + 1); + maps[maps.Length - 1] = new Map(children[i], target); + } + } + + StoreDefaultState(); + } + + protected override void InitiatePoser() { + StoreDefaultState(); + } + + protected override void UpdatePoser() { + if (weight <= 0f) return; + if (localPositionWeight <= 0f && localRotationWeight <= 0f) return; + if (poseRoot == null) return; + + // Calculate weights + float rW = localRotationWeight * weight; + float pW = localPositionWeight * weight; + + // Lerping the localRotation and the localPosition + for (int i = 0; i < maps.Length; i++) maps[i].Update(rW, pW); + } + + protected override void StoreCurrentPose() + { + for (int i = 0; i < maps.Length; i++) + { + maps[i].StoreCurrentPose(); + } + } + + protected override void BlendFromLastPose(float lerpTimer) + { + for (int i = 0; i < maps.Length; i++) + { + maps[i].BlendFromLastPose(lerpTimer); + } + } + + + protected override void FixPoserTransforms() { + for (int i = 0; i < maps.Length; i++) { + maps[i].FixTransform(); + } + } + + private void StoreDefaultState() { + for (int i = 0; i < maps.Length; i++) { + maps[i].StoreDefaultState(); + } + } + + // Returns a Transform from the array that has the specified name + private Transform GetTargetNamed(string tName, Transform[] array) { + for (int i = 0; i < array.Length; i++) { + if (array[i].name == tName) return array[i]; + } + return null; + } + + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs.meta new file mode 100644 index 00000000..b0f8a9cf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/GenericPoser.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: dd754e329e5ea4f139b08b9271641e12 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs new file mode 100644 index 00000000..750a1f37 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs @@ -0,0 +1,100 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Posing the children of a Transform to match the children of another Transform + /// + public class HandPoser : Poser { + + public override void AutoMapping() { + if (poseRoot == null) poseChildren = new Transform[0]; + else poseChildren = (Transform[])poseRoot.GetComponentsInChildren(); + + _poseRoot = poseRoot; + } + + protected override void InitiatePoser() { + // Find the children + children = (Transform[])GetComponentsInChildren(); + + StoreDefaultState(); + } + + protected override void FixPoserTransforms() { + for (int i = 0; i < children.Length; i++) { + children[i].localPosition = defaultLocalPositions[i]; + children[i].localRotation = defaultLocalRotations[i]; + } + } + + protected override void UpdatePoser() { + if (weight <= 0f) return; + if (localPositionWeight <= 0f && localRotationWeight <= 0f) return; + + // Get the children, if we don't have them already + if (_poseRoot != poseRoot) AutoMapping(); + + if (poseRoot == null) return; + + // Something went wrong + if (children.Length != poseChildren.Length) { + Warning.Log("Number of children does not match with the pose", transform); + return; + } + + // Calculate weights + float rW = localRotationWeight * weight; + float pW = localPositionWeight * weight; + + // Lerping the localRotation and the localPosition + for (int i = 0; i < children.Length; i++) { + if (children[i] != transform) { + children[i].localRotation = Quaternion.Lerp(children[i].localRotation, poseChildren[i].localRotation, rW); + children[i].localPosition = Vector3.Lerp(children[i].localPosition, poseChildren[i].localPosition, pW); + } + } + } + + protected override void StoreCurrentPose() + { + lerpLocalPositions = new Vector3[children.Length]; + lerpLocalRotations = new Quaternion[children.Length]; + + for (int i = 0; i < children.Length; i++) + { + lerpLocalPositions[i] = children[i].localPosition; + lerpLocalRotations[i] = children[i].localRotation; + } + } + + protected override void BlendFromLastPose(float lerpTimer) + { + for (int i = 0; i < children.Length; i++) + { + children[i].localPosition = Vector3.Lerp(lerpLocalPositions[i], children[i].localPosition, lerpTimer); + children[i].localRotation = Quaternion.Lerp(lerpLocalRotations[i], children[i].localRotation, lerpTimer); + } + } + + protected Transform[] children; + + private Transform _poseRoot; + private Transform[] poseChildren; + private Vector3[] defaultLocalPositions; + private Quaternion[] defaultLocalRotations; + private Vector3[] lerpLocalPositions; + private Quaternion[] lerpLocalRotations; + + protected void StoreDefaultState() { + defaultLocalPositions = new Vector3[children.Length]; + defaultLocalRotations = new Quaternion[children.Length]; + + for (int i = 0; i < children.Length; i++) { + defaultLocalPositions[i] = children[i].localPosition; + defaultLocalRotations[i] = children[i].localRotation; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs.meta new file mode 100644 index 00000000..1d4d7b53 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/HandPoser.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a98c3501ec8dc43c8a64321bd55c3f63 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs new file mode 100644 index 00000000..903c6791 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs @@ -0,0 +1,127 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// The base abstract class for all class that are translating a hierarchy of bones to match the translation of bones in another hierarchy. + /// + public abstract class Poser: SolverManager { + + /// + /// Reference to the other Transform (should be identical to this one) + /// + public Transform poseRoot; + /// + /// The master weight. + /// + [Range(0f, 1f)] public float weight = 1f; + /// + /// Weight of localRotation matching + /// + [Range(0f, 1f)] public float localRotationWeight = 1f; + /// + /// Weight of localPosition matching + /// + [Range(0f, 1f)] public float localPositionWeight; + + /// + /// Map this instance to the poseRoot. + /// + public abstract void AutoMapping(); + public virtual void AutoMapping(Transform[] bones) { } + + /// + /// For manual update of the poser. + /// + public void UpdateManual(float deltaTime) { + + UpdatePoser(); + UpdateLerping(deltaTime); + if (storeCurrentPoseFlag) OnStoreCurrentPoseFlag(); + } + + public void SetPoseRoot(Transform newPoseRoot, Transform[] autoMappingBones, float blendSpeed) + { + this.blendSpeed = blendSpeed; + + if (newPoseRoot != null && poseRoot != null && weight > 0f) + { + nextPoseRoot = newPoseRoot; + this.autoMappingBones = autoMappingBones; + storeCurrentPoseFlag = true; + } else + { + poseRoot = newPoseRoot; + AutoMapping(autoMappingBones); + storeCurrentPoseFlag = false; + } + } + + private bool initiated; + protected abstract void InitiatePoser(); + protected abstract void UpdatePoser(); + protected abstract void StoreCurrentPose(); + protected abstract void BlendFromLastPose(float lerpTimer); + protected abstract void FixPoserTransforms(); + + protected Transform nextPoseRoot; + protected bool storeCurrentPoseFlag; + private bool isLerping; + private float lerpTimer; + private Transform[] autoMappingBones = new Transform[0]; + private float blendSpeed; + + private void UpdateLerping(float deltaTime) + { + if (!isLerping) return; + + lerpTimer = Mathf.MoveTowards(lerpTimer, 1f, deltaTime * blendSpeed); + BlendFromLastPose(lerpTimer); + + if (lerpTimer >= 1f) + { + isLerping = false; + lerpTimer = 0f; + } + } + + /* + * Updates the solver. If you need full control of the execution order of your IK solvers, disable this script and call UpdateSolver() instead. + * */ + protected override void UpdateSolver() { + if (!initiated) InitiateSolver(); + if (!initiated) return; + + UpdatePoser(); + UpdateLerping(Time.deltaTime); + if (storeCurrentPoseFlag) OnStoreCurrentPoseFlag(); + } + + private void OnStoreCurrentPoseFlag() + { + StoreCurrentPose(); + isLerping = true; + lerpTimer = 0f; + poseRoot = nextPoseRoot; + AutoMapping(autoMappingBones); + nextPoseRoot = null; + + storeCurrentPoseFlag = false; + } + + /* + * Initiates the %IK solver + * */ + protected override void InitiateSolver() { + if (initiated) return; + InitiatePoser(); + initiated = true; + } + + protected override void FixTransforms() { + if (!initiated) return; + FixPoserTransforms(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs.meta new file mode 100644 index 00000000..f117902e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/Poser.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5c8218556cda043adb17da42f8151df0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs new file mode 100644 index 00000000..320d77f8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs @@ -0,0 +1,175 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion.FinalIK +{ + + /// + /// Posing the children of a Transform to match the children of another Transform that has different bone orientations. + /// + public class UniversalPoser : Poser + { + + /// + /// Mapping a bone to its target + /// + [System.Serializable] + public class Map + { + public Transform bone; + [HideInInspector] + public Transform target; + + private Vector3 defaultLocalPosition; + private Quaternion defaultLocalRotation; + + private Vector3 lerpLocalPosition; + private Quaternion lerpLocalRotation; + + + // Custom constructor + public Map(Transform bone, Transform target) + { + this.bone = bone; + this.target = target; + + StoreDefaultState(); + } + + public void StoreDefaultState() + { + defaultLocalPosition = bone.localPosition; + defaultLocalRotation = bone.localRotation; + } + + public void StoreCurrentPose() + { + lerpLocalPosition = bone.localPosition; + lerpLocalRotation = bone.localRotation; + } + + + public void FixTransform() + { + bone.localPosition = defaultLocalPosition; + bone.localRotation = defaultLocalRotation; + } + + // Update mapping + public void Update(float localRotationWeight, float localPositionWeight, Vector3 targetAxis1, Vector3 targetAxis2, Vector3 axis1, Vector3 axis2) + { + if (targetAxis1 == axis1 && targetAxis2 == axis2) + { + bone.localRotation = Quaternion.Lerp(bone.localRotation, target.localRotation, localRotationWeight); + } + else + { + Quaternion r = Quaternion.Lerp(bone.localRotation, QuaTools.MatchRotation(target.localRotation, targetAxis1, targetAxis2, axis1, axis2), localRotationWeight); + Quaternion c = QuaTools.MatchRotation(Quaternion.identity, targetAxis1, targetAxis2, axis1, axis2); + bone.localRotation = c * r; + } + + //bone.localPosition = Vector3.Lerp(bone.localPosition, target.localPosition, localPositionWeight); //TODO + } + + public void BlendFromLastPose(float lerpTimer) + { + bone.localPosition = Vector3.Lerp(lerpLocalPosition, bone.localPosition, lerpTimer); + bone.localRotation = Quaternion.Lerp(lerpLocalRotation, bone.localRotation, lerpTimer); + } + } + + [Tooltip("Choose 2 axes of a finger bone. For example 1 pointing towards the next finger and 2 pointing up. Select a finger bone in the InteractionTarget hierarchy and see which local axis points towards the next bone and which local axis points up and set targetAxis1 and targetAxis2 accordingly. Then select a finger in this poser's hierarchy and do the same for axis1 and axis2.")] + public Vector3 targetAxis1 = Vector3.forward, targetAxis2 = Vector3.up, axis1 = Vector3.forward, axis2 = Vector3.up; + [Tooltip("List of bones must match InteractionTarget's list of bones in both array size and hierarchy.")] + public Map[] bones; + + public override void AutoMapping() {} + + public override void AutoMapping(Transform[] bones) + { + if (bones.Length != this.bones.Length) + { + Debug.LogError("Trying to use UniversalPoser with an InteractionTarget that has a different number of bones. Bones must match with UniversalPoser bones in both array size and hierarchy", transform); + Debug.LogError("InterqactionTarget.bones: " + bones.Length); + for (int i = 0; i < bones.Length; i++) + { + Debug.LogError(" " + i + ": " + bones[i].name); + } + return; + } + + for (int i = 0; i < this.bones.Length; i++) + { + this.bones[i].target = bones[i]; + } + + StoreDefaultState(); + } + + protected override void InitiatePoser() + { + StoreDefaultState(); + } + + protected override void UpdatePoser() + { + if (weight <= 0f) return; + if (localPositionWeight <= 0f && localRotationWeight <= 0f) return; + if (poseRoot == null) return; + + // Calculate weights + float rW = localRotationWeight * weight; + float pW = localPositionWeight * weight; + + // Lerping the localRotation and the localPosition + for (int i = 0; i < bones.Length; i++) bones[i].Update(rW, pW, targetAxis1, targetAxis2, axis1, axis2); + } + + protected override void StoreCurrentPose() + { + for (int i = 0; i < bones.Length; i++) + { + bones[i].StoreCurrentPose(); + } + } + + protected override void BlendFromLastPose(float lerpTimer) + { + for (int i = 0; i < bones.Length; i++) + { + bones[i].BlendFromLastPose(lerpTimer); + } + } + + + protected override void FixPoserTransforms() + { + for (int i = 0; i < bones.Length; i++) + { + bones[i].FixTransform(); + } + } + + private void StoreDefaultState() + { + for (int i = 0; i < bones.Length; i++) + { + bones[i].StoreDefaultState(); + } + } + + // Returns a Transform from the array that has the specified name + private Transform GetTargetNamed(string tName, Transform[] array) + { + for (int i = 0; i < array.Length; i++) + { + if (array[i].name == tName) return array[i]; + } + return null; + } + + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs.meta new file mode 100644 index 00000000..fe1ecb79 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Posers/UniversalPoser.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 6c38faaae4d939647ae12f04b96e8ef3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility.meta new file mode 100644 index 00000000..f540ce56 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 82378241b21ac4a278b6a0a19b3edb9a +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs new file mode 100644 index 00000000..b77397c7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs @@ -0,0 +1,412 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK { + + /// + /// Ragdoll Utility controls switching characters in and out of ragdoll mode. It also enables you to use IK effects on top of ragdoll simulation. + /// + public class RagdollUtility : MonoBehaviour { + + #region Main Interface + + [Tooltip("If you have multiple IK components, then this should be the one that solves last each frame.")] + /// + /// If you have multiple IK components, then this should be the one that solves last each frame. + /// + public IK ik; + + [Tooltip("How long does it take to blend from ragdoll to animation?")] + /// + /// How long does it take to blend from ragdoll to animation? + /// + public float ragdollToAnimationTime = 0.2f; + + [Tooltip("If true, IK can be used on top of physical ragdoll simulation.")] + /// + /// If true, IK can be used on top of physical ragdoll simulation. + /// + public bool applyIkOnRagdoll; + + [Tooltip("How much velocity transfer from animation to ragdoll?")] + /// + /// How much velocity transfer from animation to ragdoll? + /// + public float applyVelocity = 1f; + + [Tooltip("How much angular velocity to transfer from animation to ragdoll?")] + /// + /// How much angular velocity to transfer from animation to ragdoll? + /// + public float applyAngularVelocity = 1f; + + /// + /// Switches to ragdoll. + /// + public void EnableRagdoll() { + if (isRagdoll) return; + + StopAllCoroutines(); + enableRagdollFlag = true; + } + + /// + /// Blends back to animation. + /// + public void DisableRagdoll() { + if (!isRagdoll) return; + StoreLocalState(); + StopAllCoroutines(); + StartCoroutine(DisableRagdollSmooth()); + } + + #endregion Main Interface + + // The rigidbodies and their associates + public class Rigidbone { + public Rigidbody r; + public Transform t; + public Collider collider; + public Joint joint; + public Rigidbody c; + public bool updateAnchor; + public Vector3 deltaPosition; + public Quaternion deltaRotation; + public float deltaTime; + public Vector3 lastPosition; + public Quaternion lastRotation; + + // Constructor + public Rigidbone (Rigidbody r) { + this.r = r; + t = r.transform; + joint = t.GetComponent(); + + collider = t.GetComponent(); + + if (joint != null) { + c = joint.connectedBody; + updateAnchor = c != null; + } + + lastPosition = t.position; + lastRotation = t.rotation; + } + + // Store position and rotation deltas + public void RecordVelocity() { + deltaPosition = t.position - lastPosition; + lastPosition = t.position; + + deltaRotation = RootMotion.QuaTools.FromToRotation(lastRotation, t.rotation); + lastRotation = t.rotation; + + deltaTime = Time.deltaTime; + } + + // Go to ragdoll + public void WakeUp(float velocityWeight, float angularVelocityWeight) { + // Joint anchors need to be updated when there are animated bones in between ragdoll bones + if (updateAnchor) { + joint.connectedAnchor = t.InverseTransformPoint(c.position); + } + + r.isKinematic = false; + + // Transfer velocity from animation + if (velocityWeight != 0f) { + r.linearVelocity = (deltaPosition / deltaTime) * velocityWeight; + } + + // Transfer angular velocity from animation + if (angularVelocityWeight != 0f) { + float angle = 0f; + Vector3 axis = Vector3.zero; + deltaRotation.ToAngleAxis(out angle, out axis); + angle *= Mathf.Deg2Rad; + angle /= deltaTime; + axis *= angle * angularVelocityWeight; + r.angularVelocity = Vector3.ClampMagnitude(axis, r.maxAngularVelocity); + } + + r.WakeUp(); + } + } + + // All child Transforms of the root. + public class Child { + public Transform t; + + public Vector3 localPosition; + public Quaternion localRotation; + + // Constructor + public Child(Transform transform) { + t = transform; + localPosition = t.localPosition; + localRotation = t.localRotation; + } + + // Force to the last stored local state + public void FixTransform(float weight) { + if (weight <= 0f) return; + + if (weight >= 1f) { + t.localPosition = localPosition; + t.localRotation = localRotation; + return; + } + + t.localPosition = Vector3.Lerp(t.localPosition, localPosition, weight); + t.localRotation = Quaternion.Lerp(t.localRotation, localRotation, weight); + } + + // Remember the local state, that is the local position and rotation of the transform + public void StoreLocalState() { + localPosition = t.localPosition; + localRotation = t.localRotation; + } + } + + private Animator animator; + private Rigidbone[] rigidbones = new Rigidbone[0]; + private Child[] children = new Child[0]; + private bool enableRagdollFlag; + private AnimatorUpdateMode animatorUpdateMode; + private IK[] allIKComponents = new IK[0]; + private bool[] fixTransforms = new bool[0]; + private float ragdollWeight; + private float ragdollWeightV; + private bool fixedFrame; + private bool[] disabledIKComponents = new bool[0]; + private bool animatorDisabled; + + // Find all necessary components and initiate + public void Start() { + animator = GetComponent(); + + allIKComponents = (IK[])GetComponentsInChildren(); + disabledIKComponents = new bool[allIKComponents.Length]; + fixTransforms = new bool[allIKComponents.Length]; + + if (ik != null) ik.GetIKSolver().OnPostUpdate += AfterLastIK; + + // Gather all the rigidbodies and their associates + Rigidbody[] rigidbodies = (Rigidbody[])GetComponentsInChildren(); + int firstIndex = rigidbodies[0].gameObject == gameObject? 1: 0; + + rigidbones = new Rigidbone[firstIndex == 0? rigidbodies.Length: rigidbodies.Length - 1]; + + for (int i = 0; i < rigidbones.Length; i++) { + rigidbones[i] = new Rigidbone(rigidbodies[i + firstIndex]); + } + + // Find all the child Transforms + Transform[] C = (Transform[])GetComponentsInChildren(); + children = new Child[C.Length - 1]; + + for (int i = 0; i < children.Length; i++) { + children[i] = new Child(C[i + 1]); + } + } + + // Smoothly blends out of Ragdoll + private IEnumerator DisableRagdollSmooth() { + // ...make all rigidbodies kinematic + for (int i = 0; i < rigidbones.Length; i++) { + rigidbones[i].r.isKinematic = true; + } + + // Reset IK components + for (int i = 0; i < allIKComponents.Length; i++) { + allIKComponents[i].fixTransforms = fixTransforms[i]; + if (disabledIKComponents[i]) allIKComponents[i].enabled = true; + } + + // Animator has not updated yet. + animator.updateMode = animatorUpdateMode; + if (animatorDisabled) + { + animator.enabled = true; + animatorDisabled = false; + } + + // Blend back to animation + while (ragdollWeight > 0f) { + ragdollWeight = Mathf.SmoothDamp(ragdollWeight, 0f, ref ragdollWeightV, ragdollToAnimationTime); + if (ragdollWeight < 0.001f) ragdollWeight = 0f; + + yield return null; + } + + yield return null; + } + + public void Update() { + if (!isRagdoll) return; + + // Disable IK components if applyIKOnRagdoll has been set to false while in ragdoll. + if (!applyIkOnRagdoll) { + bool disableIK = false; + for (int i = 0; i < allIKComponents.Length; i++) { + if (allIKComponents[i].enabled) { + disableIK = true; + break; + } + } + + if (disableIK) { + for (int i = 0; i < allIKComponents.Length; i++) disabledIKComponents[i] = false; + } + + for (int i = 0; i < allIKComponents.Length; i++) { + if (allIKComponents[i].enabled) { + allIKComponents[i].enabled = false; + disabledIKComponents[i] = true; + } + } + } else { + // Enable IK components if applyIKOnRagdoll has been set to true while in ragdoll + bool enableIK = false; + for (int i = 0; i < allIKComponents.Length; i++) { + if (disabledIKComponents[i]) { + enableIK = true; + break; + } + } + + if (enableIK) { + for (int i = 0; i < allIKComponents.Length; i++) { + if (disabledIKComponents[i]) { + allIKComponents[i].enabled = true; + } + } + + for (int i = 0; i < allIKComponents.Length; i++) disabledIKComponents[i] = false; + } + } + } + + public void FixedUpdate() { + // When in ragdoll, move the bones to where they were after the last physics simulation, so IK won't screw up the physics + if (isRagdoll && applyIkOnRagdoll) FixTransforms(1f); + + fixedFrame = true; + } + + public void LateUpdate() { + // When Mecanim has animated... + if (animator.updateMode != AnimatorUpdateMode.Fixed || (animator.updateMode == AnimatorUpdateMode.Fixed && fixedFrame)) { + AfterAnimation(); + } + + fixedFrame = false; + + // No IK so the final pose of the character is the current pose + if (!ikUsed) OnFinalPose(); + } + + // Called by the last IK component after it has updated + private void AfterLastIK() { + // We should have the final pose of the character + if (ikUsed) OnFinalPose(); + } + + // When animation has been applied by Mecanim + private void AfterAnimation() { + if (isRagdoll) { + // If is ragdoll, no animation has been applied, but we need to remember the pose after the physics step just the same + StoreLocalState(); + } else { + // Blending from ragdoll to animation. When ragdollWeight is zero, nothing happens here + FixTransforms(ragdollWeight); + } + } + + // When we have the final pose of the character for this frame + private void OnFinalPose() { + if (!isRagdoll) RecordVelocities(); + if (enableRagdollFlag) RagdollEnabler(); + } + + // Switching to ragdoll + private void RagdollEnabler() { + // Remember the last animated pose + StoreLocalState(); + + // Disable IK components if necessary + for (int i = 0; i < allIKComponents.Length; i++) disabledIKComponents[i] = false; + + if (!applyIkOnRagdoll) { + for (int i = 0; i < allIKComponents.Length; i++) { + if (allIKComponents[i].enabled) { + allIKComponents[i].enabled = false; + disabledIKComponents[i] = true; + } + } + } + // Switch Animator update mode to AnimatePhysics, so IK is updated in the fixed time step + animatorUpdateMode = animator.updateMode; + animator.updateMode = AnimatorUpdateMode.Fixed; + + // Disable the Animator so it won't overwrite physics + if (animator.enabled) + { + animator.enabled = false; + animatorDisabled = true; + } + + for (int i = 0; i < rigidbones.Length; i++) rigidbones[i].WakeUp(applyVelocity, applyAngularVelocity); + + // Remember some variables so we can revert to them when coming back from ragdoll + for (int i = 0; i < fixTransforms.Length; i++) { + fixTransforms[i] = allIKComponents[i].fixTransforms; + allIKComponents[i].fixTransforms = false; + } + + ragdollWeight = 1f; + ragdollWeightV = 0f; + + enableRagdollFlag = false; + } + + // Is the character currently in ragdoll mode? + private bool isRagdoll { get { return !rigidbones[0].r.isKinematic && !animator.enabled; }} + + // Store position and rotation deltas for all the rigidbodies + private void RecordVelocities() { + foreach (Rigidbone r in rigidbones) r.RecordVelocity(); + } + + // Is there any IK components acting on the character? + private bool ikUsed { + get { + if (ik == null) return false; + if (ik.enabled && ik.GetIKSolver().IKPositionWeight > 0) return true; + + foreach (IK k in allIKComponents) { + if (k.enabled && k.GetIKSolver().IKPositionWeight > 0) return true; + } + return false; + } + } + + // Stored the current pose of the character + private void StoreLocalState() { + foreach (Child c in children) c.StoreLocalState(); + } + + // Interpolate the character to the last stored pose (see StoreLocalState) + private void FixTransforms(float weight) { + foreach (Child c in children) c.FixTransform(weight); + } + + // Cleaning up the delegates + void OnDestroy() { + if (ik != null) { + ik.GetIKSolver().OnPostUpdate -= AfterLastIK; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs.meta new file mode 100644 index 00000000..6476e110 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Ragdoll Utility/RagdollUtility.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: bc258957e94624710928e65beef13de4 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits.meta new file mode 100644 index 00000000..222b7837 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: b6ad61072b7cc48628cf76e8dc4da2b3 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs new file mode 100644 index 00000000..8376983b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs @@ -0,0 +1,189 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /// + /// The base abstract class for all Rotation limits. Contains common functionality and static helper methods + /// + public abstract class RotationLimit : MonoBehaviour + { + + #region Main Interface + + /// + /// The main axis of the rotation limit. + /// + public Vector3 axis = Vector3.forward; + + /// + /// Map the zero rotation point to the current local rotation of this gameobject. + /// + public void SetDefaultLocalRotation() + { + defaultLocalRotation = transform.localRotation; + defaultLocalRotationSet = true; + defaultLocalRotationOverride = false; + } + + /// + /// Map the zero rotation point to the specified rotation. + /// + public void SetDefaultLocalRotation(Quaternion localRotation) + { + defaultLocalRotation = localRotation; + defaultLocalRotationSet = true; + defaultLocalRotationOverride = true; + } + + /// + /// Returns the limited local rotation. + /// + public Quaternion GetLimitedLocalRotation(Quaternion localRotation, out bool changed) + { + // Making sure the Rotation Limit is initiated + if (!initiated) Awake(); + + // Subtracting defaultLocalRotation + Quaternion rotation = Quaternion.Inverse(defaultLocalRotation) * localRotation; + + Quaternion limitedRotation = LimitRotation(rotation); +#if UNITY_2018_3_OR_NEWER + limitedRotation = Quaternion.Normalize(limitedRotation); +#endif + changed = limitedRotation != rotation; + + if (!changed) return localRotation; + + // Apply defaultLocalRotation back on + return defaultLocalRotation * limitedRotation; + } + + /// + /// Apply the rotation limit to transform.localRotation. Returns true if the limit has changed the rotation. + /// + public bool Apply() + { + bool changed = false; + + transform.localRotation = GetLimitedLocalRotation(transform.localRotation, out changed); + + return changed; + } + + /// + /// Disable this instance making sure it is initiated. Use this if you intend to manually control the updating of this Rotation Limit. + /// + public void Disable() + { + if (initiated) + { + enabled = false; + return; + } + + Awake(); + enabled = false; + } + +#endregion Main Interface + + /* + * An arbitrary secondary axis that we get by simply switching the axes + * */ + public Vector3 secondaryAxis { get { return new Vector3(axis.y, axis.z, axis.x); } } + + /* + * Cross product of axis and secondaryAxis + * */ + public Vector3 crossAxis { get { return Vector3.Cross(axis, secondaryAxis); } } + + /* + * The default local rotation of the gameobject. By default stored in Awake. + * */ + [HideInInspector] public Quaternion defaultLocalRotation; + + public bool defaultLocalRotationOverride { get; private set; } + + protected abstract Quaternion LimitRotation(Quaternion rotation); + + private bool initiated; + private bool applicationQuit; + private bool defaultLocalRotationSet; + + /* + * Initiating the Rotation Limit + * */ + void Awake() + { + // Store the local rotation to map the zero rotation point to the current rotation + if (!defaultLocalRotationSet) SetDefaultLocalRotation(); + + if (axis == Vector3.zero) Debug.LogError("Axis is Vector3.zero."); + initiated = true; + } + + /* + * Using LateUpdate here because you most probably want to apply the limits after animation. + * If you need precise control over the execution order, disable this script and call Apply() whenever you need + * */ + void LateUpdate() + { + Apply(); + } + + /* + * Logs the warning if no other warning has beed logged in this session. + * */ + public void LogWarning(string message) + { + Warning.Log(message, transform); + } + +#region Static helper methods for all Rotation Limits + + /* + * Limits rotation to a single degree of freedom (along axis) + * */ + protected static Quaternion Limit1DOF(Quaternion rotation, Vector3 axis) + { + return Quaternion.FromToRotation(rotation * axis, axis) * rotation; + } + + /* + * Applies uniform twist limit to the rotation + * */ + protected static Quaternion LimitTwist(Quaternion rotation, Vector3 axis, Vector3 orthoAxis, float twistLimit) + { + twistLimit = Mathf.Clamp(twistLimit, 0, 180); + if (twistLimit >= 180) return rotation; + + Vector3 normal = rotation * axis; + Vector3 orthoTangent = orthoAxis; + Vector3.OrthoNormalize(ref normal, ref orthoTangent); + + Vector3 rotatedOrthoTangent = rotation * orthoAxis; + Vector3.OrthoNormalize(ref normal, ref rotatedOrthoTangent); + + Quaternion fixedRotation = Quaternion.FromToRotation(rotatedOrthoTangent, orthoTangent) * rotation; + + if (twistLimit <= 0) return fixedRotation; + + // Rotate from zero twist to free twist by the limited angle + return Quaternion.RotateTowards(fixedRotation, rotation, twistLimit); + } + + /* + * Returns the angle between two vectors on a plane with the specified normal + * */ + protected static float GetOrthogonalAngle(Vector3 v1, Vector3 v2, Vector3 normal) + { + Vector3.OrthoNormalize(ref normal, ref v1); + Vector3.OrthoNormalize(ref normal, ref v2); + return Vector3.Angle(v1, v2); + } + +#endregion + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs.meta new file mode 100644 index 00000000..5930c950 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimit.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 197a3a7b95f0e4ac48f171363db95b5b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs new file mode 100644 index 00000000..604cea49 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs @@ -0,0 +1,82 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Simple angular rotation limit. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Angle")] + public class RotationLimitAngle : RotationLimit { + + // Open the User Manual URL + [ContextMenu("User Manual")] + private void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + private void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_angle.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// The swing limit. + /// + [Range(0f, 180f)] public float limit = 45; + /// + /// Limit of twist rotation around the main axis. + /// + [Range(0f, 180f)] public float twistLimit = 180; + + #endregion Main Interface + + /* + * Limits the rotation in the local space of this instance's Transform. + * */ + protected override Quaternion LimitRotation(Quaternion rotation) { + // Subtracting off-limits swing + Quaternion swing = LimitSwing(rotation); + + // Apply twist limits + return LimitTwist(swing, axis, secondaryAxis, twistLimit); + } + + /* + * Apply swing limits + * */ + private Quaternion LimitSwing(Quaternion rotation) { + if (axis == Vector3.zero) return rotation; // Ignore with zero axes + if (rotation == Quaternion.identity) return rotation; // Assuming initial rotation is in the reachable area + if (limit >= 180) return rotation; + + Vector3 swingAxis = rotation * axis; + + // Get the limited swing axis + Quaternion swingRotation = Quaternion.FromToRotation(axis, swingAxis); + Quaternion limitedSwingRotation = Quaternion.RotateTowards(Quaternion.identity, swingRotation, limit); + + // Rotation from current(illegal) swing rotation to the limited(legal) swing rotation + Quaternion toLimits = Quaternion.FromToRotation(swingAxis, limitedSwingRotation * axis); + + // Subtract the illegal rotation + return toLimits * rotation; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs.meta new file mode 100644 index 00000000..035b89a6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 45281828b4c9247558c7c695124d6877 +labels: +- Turrets +- RotationLimits +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 7e0729a4bf8e24db994fb1390c510a4e, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs new file mode 100644 index 00000000..b1d8ed57 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs @@ -0,0 +1,84 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// The hinge rotation limit limits the rotation to 1 degree of freedom around Axis. This rotation limit is additive which means the limits can exceed 360 degrees. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Hinge")] + public class RotationLimitHinge : RotationLimit { + + // Open the User Manual URL + [ContextMenu("User Manual")] + private void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + private void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_hinge.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// Should the rotation be limited around the axis? + /// + public bool useLimits = true; + /// + /// The min limit around the axis. + /// + public float min = -45; + /// + /// The max limit around the axis. + /// + public float max = 90; + + #endregion Main Interface + + /* + * Limits the rotation in the local space of this instance's Transform. + * */ + protected override Quaternion LimitRotation(Quaternion rotation) { + return LimitHinge(rotation); + } + + [HideInInspector] public float zeroAxisDisplayOffset; // Angular offset of the scene view display of the Hinge rotation limit + + private float lastAngle; + + /* + * Apply the hinge rotation limit + * */ + private Quaternion LimitHinge(Quaternion rotation) { + // If limit is zero return rotation fixed to axis + if (min == 0 && max == 0 && useLimits) return Quaternion.AngleAxis(0, axis); + + // Get 1 degree of freedom rotation along axis + Quaternion free1DOF = Limit1DOF(rotation, axis); + if (!useLimits) return free1DOF; + + Quaternion workingSpace = Quaternion.Inverse(Quaternion.AngleAxis(lastAngle, axis) * Quaternion.LookRotation(secondaryAxis, axis)); + Vector3 d = workingSpace * free1DOF * secondaryAxis; + float deltaAngle = Mathf.Atan2(d.x, d.z) * Mathf.Rad2Deg; + + lastAngle = Mathf.Clamp(lastAngle + deltaAngle, min, max); + return Quaternion.AngleAxis(lastAngle, axis); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs.meta new file mode 100644 index 00000000..e31f07e3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitHinge.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 484718f2c4ab849829491782b508958a +labels: +- Turrets +- RotationLimits +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: ac7ab65192f5c4348bdd26925b0bb42d, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs new file mode 100644 index 00000000..157c767b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs @@ -0,0 +1,333 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Using a spherical polygon to limit the range of rotation on universal and ball-and-socket joints. A reach cone is specified as a spherical polygon + /// on the surface of a a reach sphere that defines all positions the longitudinal segment axis beyond the joint can take. + /// + /// This class is based on the "Fast and Easy Reach-Cone Joint Limits" paper by Jane Wilhelms and Allen Van Gelder. + /// Computer Science Dept., University of California, Santa Cruz, CA 95064. August 2, 2001 + /// http://users.soe.ucsc.edu/~avg/Papers/jtl.pdf + /// + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Polygonal")] + public class RotationLimitPolygonal : RotationLimit { + + // Open the User Manual URL + [ContextMenu("User Manual")] + private void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + private void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_polygonal.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// Limit of twist rotation around the main axis. + /// + [Range(0f, 180f)] public float twistLimit = 180; + /// + /// The number of smoothing iterations applied to the polygon. + /// + [Range(0, 3)] public int smoothIterations = 0; + + /// + /// Sets the limit points and recalculates the reach cones. + /// + /// + /// _points. + /// + public void SetLimitPoints(LimitPoint[] points) { + if (points.Length < 3) { + LogWarning("The polygon must have at least 3 Limit Points."); + return; + } + this.points = points; + BuildReachCones(); + } + + #endregion Main Interface + + /* + * Limits the rotation in the local space of this instance's Transform. + * */ + protected override Quaternion LimitRotation(Quaternion rotation) { + if (reachCones.Length == 0) Start(); + + // Subtracting off-limits swing + Quaternion swing = LimitSwing(rotation); + + // Apply twist limits + return LimitTwist(swing, axis, secondaryAxis, twistLimit); + } + + /* + * Tetrahedron composed of 2 Limit points, the origin and an axis point. + * */ + [System.Serializable] + public class ReachCone { + public Vector3[] tetrahedron; + public float volume; + public Vector3 S, B; + + public Vector3 o { get { return tetrahedron[0]; }} + public Vector3 a { get { return tetrahedron[1]; }} + public Vector3 b { get { return tetrahedron[2]; }} + public Vector3 c { get { return tetrahedron[3]; }} + + public ReachCone(Vector3 _o, Vector3 _a, Vector3 _b, Vector3 _c) { + this.tetrahedron = new Vector3[4]; + this.tetrahedron[0] = _o; // Origin + this.tetrahedron[1] = _a; // Axis + this.tetrahedron[2] = _b; // Limit Point 1 + this.tetrahedron[3] = _c; // Limit Point 2 + + this.volume = 0; + this.S = Vector3.zero; + this.B = Vector3.zero; + } + + public bool isValid { get { return volume > 0; }} + + public void Calculate() { + Vector3 crossAB = Vector3.Cross(a, b); + volume = Vector3.Dot(crossAB, c) / 6.0f; + + S = Vector3.Cross(a, b).normalized; + B = Vector3.Cross(b, c).normalized; + } + } + + /* + * The points defining the polygon + * */ + [System.Serializable] + public class LimitPoint { + public Vector3 point; + public float tangentWeight; + + public LimitPoint() { + this.point = Vector3.forward; + this.tangentWeight = 1; + } + } + + [HideInInspector] public LimitPoint[] points; + [HideInInspector] public Vector3[] P; + [HideInInspector] public ReachCone[] reachCones = new ReachCone[0]; + + void Start() { + if (points.Length < 3) ResetToDefault(); + + // Check if Limit Points are valid + for (int i = 0; i < reachCones.Length; i++) { + if (!reachCones[i].isValid) { + if (smoothIterations <= 0) { + int nextPoint = 0; + if (i < reachCones.Length - 1) nextPoint = i + 1; + else nextPoint = 0; + LogWarning("Reach Cone {point " + i + ", point " + nextPoint + ", Origin} has negative volume. Make sure Axis vector is in the reachable area and the polygon is convex."); + } else LogWarning("One of the Reach Cones in the polygon has negative volume. Make sure Axis vector is in the reachable area and the polygon is convex."); + } + } + + axis = axis.normalized; + } + + #region Precalculations + + /* + * Apply the default initial setup of 4 Limit Points + * */ + public void ResetToDefault() { + points = new LimitPoint[4]; + for (int i = 0; i < points.Length; i++) points[i] = new LimitPoint(); + + Quaternion swing1Rotation = Quaternion.AngleAxis(45, Vector3.right); + Quaternion swing2Rotation = Quaternion.AngleAxis(45, Vector3.up); + + points[0].point = (swing1Rotation * swing2Rotation) * axis; + points[1].point = (Quaternion.Inverse(swing1Rotation) * swing2Rotation) * axis; + points[2].point = (Quaternion.Inverse(swing1Rotation) * Quaternion.Inverse(swing2Rotation)) * axis; + points[3].point = (swing1Rotation * Quaternion.Inverse(swing2Rotation)) * axis; + + BuildReachCones(); + } + + /* + * Recalculate reach cones if the Limit Points have changed + * */ + public void BuildReachCones() { + smoothIterations = Mathf.Clamp(smoothIterations, 0, 3); + + // Make another array for the points so that they could be smoothed without changing the initial points + P = new Vector3[points.Length]; + for (int i = 0; i < points.Length; i++) P[i] = points[i].point.normalized; + + for (int i = 0; i < smoothIterations; i++) P = SmoothPoints(); + + // Calculating the reach cones + reachCones = new ReachCone[P.Length]; + for (int i = 0; i < reachCones.Length - 1; i++) { + reachCones[i] = new ReachCone(Vector3.zero, axis.normalized, P[i], P[i + 1]); + } + + reachCones[P.Length - 1] = new ReachCone(Vector3.zero, axis.normalized, P[P.Length - 1], P[0]); + + for (int i = 0; i < reachCones.Length; i++) reachCones[i].Calculate(); + } + + /* + * Automatically adds virtual limit points to smooth the polygon + * */ + private Vector3[] SmoothPoints() { + // Create the new point array with double length + Vector3[] Q = new Vector3[P.Length * 2]; + + float scalar = GetScalar(P.Length); // Get the constant used for interpolation + + // Project all the existing points on a plane that is tangent to the unit sphere at the Axis point + for (int i = 0; i < Q.Length; i+= 2) Q[i] = PointToTangentPlane(P[i / 2], 1); + + // Interpolate the new points + for (int i = 1; i < Q.Length; i+= 2) { + Vector3 minus2 = Vector3.zero; + Vector3 plus1 = Vector3.zero; + Vector3 plus2 = Vector3.zero; + + if (i > 1 && i < Q.Length - 2) { + minus2 = Q[i - 2]; + plus2 = Q[i + 1]; + } else if (i == 1) { + minus2 = Q[Q.Length - 2]; + plus2 = Q[i + 1]; + } else if (i == Q.Length - 1) { + minus2 = Q[i - 2]; + plus2 = Q[0]; + } + + if (i < Q.Length - 1) plus1 = Q[i + 1]; + else plus1 = Q[0]; + + int t = Q.Length / points.Length; + + // Interpolation + Q[i] = (0.5f * (Q[i - 1] + plus1)) + (scalar * points[i / t].tangentWeight * (plus1 - minus2)) + (scalar * points[i / t].tangentWeight * (Q[i - 1] - plus2)); + } + + // Project the points from tangent plane to the sphere + for (int i = 0; i < Q.Length; i++) Q[i] = TangentPointToSphere(Q[i], 1); + + return Q; + } + + /* + * Returns scalar values used for interpolating smooth positions between limit points + * */ + private float GetScalar(int k) { + // Values k (number of points) == 3, 4 and 6 are calculated by analytical geometry, values 5 and 7 were estimated by interpolation + if (k <= 3) return .1667f; + if (k == 4) return .1036f; + if (k == 5) return .0850f; + if (k == 6) return .0773f; + if (k == 7) return .0700f; + return .0625f; // Cubic spline fit + } + + /* + * Project a point on the sphere to a plane that is tangent to the unit sphere at the Axis point + * */ + private Vector3 PointToTangentPlane(Vector3 p, float r) { + float d = Vector3.Dot(axis, p); + float u = (2 * r * r) / ((r * r) + d); + return (u * p) + ((1 - u) * -axis); + } + + /* + * Project a point on the tangent plane to the sphere + * */ + private Vector3 TangentPointToSphere(Vector3 q, float r) { + float d = Vector3.Dot(q - axis, q - axis); + float u = (4 * r * r) / ((4 * r * r) + d); + return (u * q) + ((1 - u) * -axis); + } + + #endregion Precalculations + + #region Runtime calculations + + /* + * Applies Swing limit to the rotation + * */ + private Quaternion LimitSwing(Quaternion rotation) { + if (rotation == Quaternion.identity) return rotation; // Assuming initial rotation is in the reachable area + + Vector3 L = rotation * axis; // Test this vector against the reach cones + + int r = GetReachCone(L); // Get the reach cone to test against (can be only 1) + + // Just in case we are running our application with invalid reach cones + if (r == -1) { + if (!Warning.logged) LogWarning("RotationLimitPolygonal reach cones are invalid."); + return rotation; + } + + // Dot product of cone normal and rotated axis + float v = Vector3.Dot(reachCones[r].B, L); + if (v > 0) return rotation; // Rotation is reachable + + // Find normal for a plane defined by origin, axis, and rotated axis + Vector3 rotationNormal = Vector3.Cross(axis, L); + + // Find the line where this plane intersects with the reach cone plane + L = Vector3.Cross(-reachCones[r].B, rotationNormal); + + // Rotation from current(illegal) swing rotation to the limited(legal) swing rotation + Quaternion toLimits = Quaternion.FromToRotation(rotation * axis, L); + + // Subtract the illegal rotation + return toLimits * rotation; + } + + /* + * Finding the reach cone to test against + * */ + private int GetReachCone(Vector3 L) { + float p = 0; + float p1 = Vector3.Dot(reachCones[0].S, L); + + for (int i = 0; i < reachCones.Length; i++) { + p = p1; + + if (i < reachCones.Length - 1) p1 = Vector3.Dot(reachCones[i + 1].S, L); + else p1 = Vector3.Dot(reachCones[0].S, L); + + if (p >= 0 && p1 < 0) return i; + } + + return -1; + } + + #endregion Runtime calculations + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs.meta new file mode 100644 index 00000000..9b934bae --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitPolygonal.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: dae00b1bdc58d499396776ce508a5078 +labels: +- Turrets +- RotationLimits +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: 03a93cc74a1364909b1ddd071896ad75, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs new file mode 100644 index 00000000..0270e56e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs @@ -0,0 +1,102 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Using a spline to limit the range of rotation on universal and ball-and-socket joints. + /// Reachable area is defined by an AnimationCurve orthogonally mapped onto a sphere. + /// + [HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")] + [AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Spline")] + public class RotationLimitSpline : RotationLimit { + + // Open the User Manual URL + [ContextMenu("User Manual")] + private void OpenUserManual() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html"); + } + + // Open the Script Reference URL + [ContextMenu("Scrpt Reference")] + private void OpenScriptReference() { + Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_spline.html"); + } + + // Link to the Final IK Google Group + [ContextMenu("Support Group")] + void SupportGroup() { + Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik"); + } + + // Link to the Final IK Asset Store thread in the Unity Community + [ContextMenu("Asset Store Thread")] + void ASThread() { + Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/"); + } + + #region Main Interface + + /// + /// Limit of twist rotation around the main axis. + /// + [Range(0f, 180f)] public float twistLimit = 180; + + /// + /// Set the spline keyframes. + /// + /// + /// Keyframes. + /// + public void SetSpline(Keyframe[] keyframes) { + spline.keys = keyframes; + } + + /* + * The AnimationCurve orthogonally mapped onto a sphere that defines the swing limits + * */ + [HideInInspector] public AnimationCurve spline; + + #endregion Main Interface + + /* + * Limits the rotation in the local space of this instance's Transform. + * */ + protected override Quaternion LimitRotation(Quaternion rotation) { + // Subtracting off-limits swing + Quaternion swing = LimitSwing(rotation); + + // Apply twist limits + return LimitTwist(swing, axis, secondaryAxis, twistLimit); + } + + /* + * Apply the swing rotation limits + * */ + public Quaternion LimitSwing(Quaternion rotation) { + if (axis == Vector3.zero) return rotation; // Ignore with zero axes + if (rotation == Quaternion.identity) return rotation; // Assuming initial rotation is in the reachable area + + // Get the rotation angle orthogonal to Axis + Vector3 swingAxis = rotation * axis; + float angle = GetOrthogonalAngle(swingAxis, secondaryAxis, axis); + + // Convert angle from 180 to 360 degrees representation + float dot = Vector3.Dot(swingAxis, crossAxis); + if (dot < 0) angle = 180 + (180 - angle); + + // Evaluate the limit for this angle + float limit = spline.Evaluate(angle); + + // Get the limited swing axis + Quaternion swingRotation = Quaternion.FromToRotation(axis, swingAxis); + Quaternion limitedSwingRotation = Quaternion.RotateTowards(Quaternion.identity, swingRotation, limit); + + // Rotation from current(illegal) swing rotation to the limited(legal) swing rotation + Quaternion toLimits = Quaternion.FromToRotation(swingAxis, limitedSwingRotation * axis); + + // Subtract the illegal rotation + return toLimits * rotation; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs.meta new file mode 100644 index 00000000..dbe6d08b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitSpline.cs.meta @@ -0,0 +1,13 @@ +fileFormatVersion: 2 +guid: 2ccb80eac3b2b4909a63c818e38ae6b8 +labels: +- Turrets +- RotationLimits +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {fileID: 2800000, guid: f6c289ca5c243470198f39f6517123fd, type: 3} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools.meta new file mode 100644 index 00000000..c40d4031 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 9ee8e72065e2742a996360ea873ab65a +folderAsset: yes +timeCreated: 1441716632 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs new file mode 100644 index 00000000..0e84774d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs @@ -0,0 +1,283 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Handles smooth aim target switching, weight blending, target interpolation and root rotation. + /// + public class AimController : MonoBehaviour { + + [Tooltip("Reference to the AimIK component.")] + /// + /// Reference to the AimIK component. + /// + public AimIK ik; + + [Tooltip("Master weight of the IK solver.")] + /// + /// Master weight of the IK solver. + /// + [Range(0f, 1f)] public float weight = 1f; + + [Header("Target Smoothing")] + + [Tooltip("The target to aim at. Do not use the Target transform that is assigned to AimIK. Set to null if you wish to stop aiming.")] + /// + /// The target to aim at. Do not use the Target transform that is assigned to AimIK. Set to null if you wish to stop aiming. + /// + public Transform target; + + [Tooltip("The time it takes to switch targets.")] + /// + /// The time it takes to switch targets. + /// + public float targetSwitchSmoothTime = 0.3f; + + [Tooltip("The time it takes to blend in/out of AimIK weight.")] + /// + /// The time it takes to blend in/out of AimIK weight. + /// + public float weightSmoothTime = 0.3f; + + [Header("Turning Towards The Target")] + + [Tooltip("Enables smooth turning towards the target according to the parameters under this header.")] + /// + /// Enables smooth turning towards the target according to the parameters under this header. + /// + public bool smoothTurnTowardsTarget = true; + + [Tooltip("Speed of turning towards the target using Vector3.RotateTowards.")] + /// + /// Speed of turning towards the target using Vector3.RotateTowards. + /// + public float maxRadiansDelta = 3f; + + [Tooltip("Speed of moving towards the target using Vector3.RotateTowards.")] + /// + /// Speed of moving towards the target using Vector3.RotateTowards. + /// + public float maxMagnitudeDelta = 3f; + + [Tooltip("Speed of slerping towards the target.")] + /// + /// Speed of slerping towards the target. + /// + public float slerpSpeed = 3f; + + [Tooltip("Smoothing time for turning towards the yaw and pitch of the target using Mathf.SmoothDampAngle. Value of 0 means smooth damping is disabled." )] + /// + /// Smoothing time for turning towards the yaw and pitch of the target using Mathf.SmoothDampAngle. Value of 0 means smooth damping is disabled. + /// + public float smoothDampTime = 0f; + + [Tooltip("The position of the pivot that the aim target is rotated around relative to the root of the character.")] + /// + /// The position of the pivot that the aim target is rotated around relative to the root of the character. + /// + public Vector3 pivotOffsetFromRoot = Vector3.up; + + [Tooltip("Minimum distance of aiming from the first bone. Keeps the solver from failing if the target is too close.")] + /// + /// Minimum distance of aiming from the first bone. Keeps the solver from failing if the target is too close. + /// + public float minDistance = 1f; + + [Tooltip("Offset applied to the target in world space. Convenient for scripting aiming inaccuracy.")] + /// + /// Offset applied to the target in world space. Convenient for scripting aiming inaccuracy. + /// + public Vector3 offset; + + [Header("RootRotation")] + + [Tooltip("Character root will be rotate around the Y axis to keep root forward within this angle from the aiming direction.")] + /// + ///Character root will be rotate around the Y axis to keep root forward within this angle from the aiming direction. + /// + [Range(0f, 180f)] public float maxRootAngle = 45f; + + [Tooltip("If enabled, aligns the root forward to target direction after 'Max Root Angle' has been exceeded.")] + /// + /// If enabled, aligns the root forward to target direction after 'Max Root Angle' has been exceeded. + /// + public bool turnToTarget; + + [Tooltip("The time of turning towards the target direction if 'Max Root Angle has been exceeded and 'Turn To Target' is enabled.")] + /// + /// The time of turning towards the target direction if 'Max Root Angle has been exceeded and 'Turn To Target' is enabled. + /// + public float turnToTargetTime = 0.2f; + + [Header("Mode")] + + [Tooltip("If true, AimIK will consider whatever the current direction of the weapon to be the forward aiming direction and work additively on top of that. This enables you to use recoil and reloading animations seamlessly with AimIK. Adjust the Vector3 value below if the weapon is not aiming perfectly forward in the aiming animation clip.")] + /// + /// If true, AimIK will consider whatever the current direction of the weapon to be the forward aiming direction and work additively on top of that. This enables you to use recoil and reloading animations seamlessly with AimIK. Adjust the Vector3 value below if the weapon is not aiming perfectly forward in the aiming animation clip. + /// + public bool useAnimatedAimDirection; + + [Tooltip("The direction of the animated weapon aiming in character space. Tweak this value to adjust the aiming. 'Use Animated Aim Direction' must be enabled for this property to work.")] + /// + /// The direction of the animated weapon aiming in character space. Tweak this value to adjust the aiming. 'Use Animated Aim Direction' must be enabled for this property to work. + /// + public Vector3 animatedAimDirection = Vector3.forward; + + private Transform lastTarget; + private float switchWeight, switchWeightV; + private float weightV; + private Vector3 lastPosition; + private Vector3 dir; + private bool lastSmoothTowardsTarget; + private bool turningToTarget; + private float turnToTargetMlp = 1f; + private float turnToTargetMlpV; + + void Start() { + lastPosition = ik.solver.IKPosition; + dir = ik.solver.IKPosition - pivot; + + ik.solver.target = null; + } + + void LateUpdate () { + // If target has changed... + if (target != lastTarget) { + if (lastTarget == null && target != null && ik.solver.IKPositionWeight <= 0f) + { + lastPosition = target.position; + dir = target.position - pivot; + ik.solver.IKPosition = target.position + offset; + } + else + { + lastPosition = ik.solver.IKPosition; + dir = ik.solver.IKPosition - pivot; + } + + switchWeight = 0f; + lastTarget = target; + } + + // Smooth weight + float targetWeight = target != null ? weight : 0f; + ik.solver.IKPositionWeight = Mathf.SmoothDamp(ik.solver.IKPositionWeight, targetWeight, ref weightV, weightSmoothTime); + if (ik.solver.IKPositionWeight >= 0.999f && targetWeight > ik.solver.IKPositionWeight) ik.solver.IKPositionWeight = 1f; + if (ik.solver.IKPositionWeight <= 0.001f && targetWeight < ik.solver.IKPositionWeight) ik.solver.IKPositionWeight = 0f; + + if (ik.solver.IKPositionWeight <= 0f) return; + + // Smooth target switching + switchWeight = Mathf.SmoothDamp(switchWeight, 1f, ref switchWeightV, targetSwitchSmoothTime); + if (switchWeight >= 0.999f) switchWeight = 1f; + + if (target != null) { + ik.solver.IKPosition = Vector3.Lerp(lastPosition, target.position + offset, switchWeight); + } + + // Smooth turn towards target + if (smoothTurnTowardsTarget != lastSmoothTowardsTarget) { + dir = ik.solver.IKPosition - pivot; + lastSmoothTowardsTarget = smoothTurnTowardsTarget; + } + + if (smoothTurnTowardsTarget) { + Vector3 targetDir = ik.solver.IKPosition - pivot; + + // Slerp + if (slerpSpeed > 0f) dir = Vector3.Slerp(dir, targetDir, Time.deltaTime * slerpSpeed); + + // RotateTowards + if (maxRadiansDelta > 0 || maxMagnitudeDelta > 0f) dir = Vector3.RotateTowards(dir, targetDir, Time.deltaTime * maxRadiansDelta, maxMagnitudeDelta); + + // SmoothDamp + if (smoothDampTime > 0f) + { + float yaw = V3Tools.GetYaw(dir); + float targetYaw = V3Tools.GetYaw(targetDir); + float y = Mathf.SmoothDampAngle(yaw, targetYaw, ref yawV, smoothDampTime); + + float pitch = V3Tools.GetPitch(dir); + float targetPitch = V3Tools.GetPitch(targetDir); + float p = Mathf.SmoothDampAngle(pitch, targetPitch, ref pitchV, smoothDampTime); + + float dirMag = Mathf.SmoothDamp(dir.magnitude, targetDir.magnitude, ref dirMagV, smoothDampTime); + + dir = Quaternion.Euler(p, y, 0f) * Vector3.forward * dirMag; + } + + ik.solver.IKPosition = pivot + dir; + } + + // Min distance from the pivot + ApplyMinDistance(); + + // Root rotation + RootRotation(); + + // Offset mode + if (useAnimatedAimDirection) { + ik.solver.axis = ik.solver.transform.InverseTransformVector(ik.transform.rotation * animatedAimDirection); + } + } + + private float yawV, pitchV, dirMagV; + + // Pivot of rotating the aiming direction. + private Vector3 pivot { + get { + return ik.transform.position + ik.transform.rotation * pivotOffsetFromRoot; + } + } + + // Make sure aiming target is not too close (might make the solver instable when the target is closer to the first bone than the last bone is). + void ApplyMinDistance() { + Vector3 aimFrom = pivot; + Vector3 direction = (ik.solver.IKPosition - aimFrom); + direction = direction.normalized * Mathf.Max(direction.magnitude, minDistance); + + ik.solver.IKPosition = aimFrom + direction; + } + + // Character root will be rotate around the Y axis to keep root forward within this angle from the aiming direction. + private void RootRotation() { + float max = Mathf.Lerp(180f, maxRootAngle * turnToTargetMlp, ik.solver.IKPositionWeight); + + if (max < 180f) { + Vector3 faceDirLocal = Quaternion.Inverse(ik.transform.rotation) * (ik.solver.IKPosition - pivot); + float angle = Mathf.Atan2(faceDirLocal.x, faceDirLocal.z) * Mathf.Rad2Deg; + + float rotation = 0f; + + if (angle > max) { + rotation = angle - max; + if (!turningToTarget && turnToTarget) StartCoroutine(TurnToTarget()); + } + if (angle < -max) { + rotation = angle + max; + if (!turningToTarget && turnToTarget) StartCoroutine(TurnToTarget()); + } + + ik.transform.rotation = Quaternion.AngleAxis(rotation, ik.transform.up) * ik.transform.rotation; + } + } + + // Aligns the root forward to target direction after "Max Root Angle" has been exceeded. + private IEnumerator TurnToTarget() + { + turningToTarget = true; + + while (turnToTargetMlp > 0f) + { + turnToTargetMlp = Mathf.SmoothDamp(turnToTargetMlp, 0f, ref turnToTargetMlpV, turnToTargetTime); + if (turnToTargetMlp < 0.01f) turnToTargetMlp = 0f; + + yield return null; + } + + turnToTargetMlp = 1f; + turningToTarget = false; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs.meta new file mode 100644 index 00000000..05de5b7b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c9df7d42e7cb1a54a8eb68e9e9f0dc68 +timeCreated: 1512472681 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs new file mode 100644 index 00000000..765d18d2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs @@ -0,0 +1,78 @@ +using UnityEngine; +using System.Collections; +using RootMotion; + +namespace RootMotion.FinalIK { + + /// + /// Aim Poser returns a reference by direction. + /// + public class AimPoser : MonoBehaviour { + + /// + /// the pose definition + /// + [System.Serializable] + public class Pose { + + public bool visualize = true; // Show the direction and range of this pose in the scene view + public string name; // the reference + public Vector3 direction; // the direction of the pose + public float yaw = 75f; // the yaw range + public float pitch = 45f; // the pitch range + + private float angleBuffer; + + // Determines whether this Pose is in the specified direction. + public bool IsInDirection(Vector3 d) { + if (direction == Vector3.zero) return false; + if (yaw <= 0 || pitch <= 0) return false; + + // Yaw + if (yaw < 180f) { + Vector3 directionYaw = new Vector3(direction.x, 0f, direction.z); + if (directionYaw == Vector3.zero) directionYaw = Vector3.forward; + + Vector3 dYaw = new Vector3(d.x, 0f, d.z); + float yawAngle = Vector3.Angle(dYaw, directionYaw); + + if (yawAngle > yaw + angleBuffer) return false; + } + + // Pitch + if (pitch >= 180f) return true; + + float directionPitch = Vector3.Angle(Vector3.up, direction); + float dPitch = Vector3.Angle(Vector3.up, d); + return Mathf.Abs(dPitch - directionPitch) < pitch + angleBuffer; + } + + // Sets the angle buffer to prevent immediatelly switching back to the last pose if the angle should change a bit. + public void SetAngleBuffer(float value) { + angleBuffer = value; + } + } + + public float angleBuffer = 5f; // The angle buffer + public Pose[] poses = new Pose[0]; // The array of poses. + + /// + /// Gets the pose by direction. GetPose will go through the poses array and return the first pose that has the direction in range. + /// + public Pose GetPose(Vector3 localDirection) { + if (poses.Length == 0) return null; + + for (int i = 0; i < poses.Length - 1; i++) if (poses[i].IsInDirection(localDirection)) return poses[i]; + return poses[poses.Length - 1]; + } + + /// + /// Sets the pose active, increasing its angle buffer. + /// + public void SetPoseActive(Pose pose) { + for (int i = 0; i < poses.Length; i++) { + poses[i].SetAngleBuffer(poses[i] == pose? angleBuffer: 0f); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs.meta new file mode 100644 index 00000000..95510c25 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/AimPoser.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 4267160fb35f54254be87414e585c1a7 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs new file mode 100644 index 00000000..94469d58 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs @@ -0,0 +1,101 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Demo script that amplifies the motion of a body part relative to the root of the character or another body part. + /// + public class Amplifier: OffsetModifier { + + /// + /// Body is amplifying the motion of "transform" relative to the "relativeTo". + /// + [System.Serializable] + public class Body { + + /// + /// Linking this to an effector + /// + [System.Serializable] + public class EffectorLink { + [Tooltip("Type of the FBBIK effector to use")] + public FullBodyBipedEffector effector; + [Tooltip("Weight of using this effector")] + public float weight; + } + + [Tooltip("The Transform that's motion we are reading.")] + public Transform transform; + [Tooltip("Amplify the 'transform's' position relative to this Transform.")] + public Transform relativeTo; + [Tooltip("Linking the body to effectors. One Body can be used to offset more than one effector.")] + public EffectorLink[] effectorLinks; + [Tooltip("Amplification magnitude along the up axis of the character.")] + public float verticalWeight = 1f; + [Tooltip("Amplification magnitude along the horizontal axes of the character.")] + public float horizontalWeight = 1f; + [Tooltip("Speed of the amplifier. 0 means instant.")] + public float speed = 3f; + + private Vector3 lastRelativePos; + private Vector3 smoothDelta; + private bool firstUpdate; + + // Update the Body + public void Update(IKSolverFullBodyBiped solver, float w, float deltaTime) { + if (transform == null || relativeTo == null) return; + + // Find the relative position of the transform + Vector3 relativePos = relativeTo.InverseTransformDirection(transform.position - relativeTo.position); + + // Initiating + if (firstUpdate) { + lastRelativePos = relativePos; + firstUpdate = false; + } + + // Find how much the relative position has changed + Vector3 delta = (relativePos - lastRelativePos) / deltaTime; + + // Smooth the change + smoothDelta = speed <= 0f? delta: Vector3.Lerp(smoothDelta, delta, deltaTime * speed); + + // Convert to world space + Vector3 worldDelta = relativeTo.TransformDirection(smoothDelta); + + // Extract horizontal and vertical offset + Vector3 offset = V3Tools.ExtractVertical(worldDelta, solver.GetRoot().up, verticalWeight) + V3Tools.ExtractHorizontal(worldDelta, solver.GetRoot().up, horizontalWeight); + + // Apply the amplitude to the effector links + for (int i = 0; i < effectorLinks.Length; i++) { + solver.GetEffector(effectorLinks[i].effector).positionOffset += offset * w * effectorLinks[i].weight; + } + + lastRelativePos = relativePos; + } + + // Multiply 2 vectors + private static Vector3 Multiply(Vector3 v1, Vector3 v2) { + v1.x *= v2.x; + v1.y *= v2.y; + v1.z *= v2.z; + return v1; + } + } + + [Tooltip("The amplified bodies.")] + public Body[] bodies; + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + if (!ik.fixTransforms) { + if (!Warning.logged) Warning.Log("Amplifier needs the Fix Transforms option of the FBBIK to be set to true. Otherwise it might amplify to infinity, should the animator of the character stop because of culling.", transform); + return; + } + + // Update the Bodies + foreach (Body body in bodies) body.Update(ik.solver, weight, deltaTime); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs.meta new file mode 100644 index 00000000..2fbe411c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Amplifier.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e45ea437e115a4fb6be25b8464e6de7a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs new file mode 100644 index 00000000..ed4c05ba --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs @@ -0,0 +1,52 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Procedural body tilting with FBBIK. + /// + public class BodyTilt: OffsetModifier { + + [Tooltip("Speed of tilting")] + public float tiltSpeed = 6f; + [Tooltip("Sensitivity of tilting")] + public float tiltSensitivity = 0.07f; + [Tooltip("The OffsetPose components")] + public OffsetPose poseLeft, poseRight; + + private float tiltAngle; + private Vector3 lastForward; + + protected override void Start() { + base.Start(); + + // Store current character forward axis and Time + lastForward = transform.forward; + } + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + // Calculate the angular delta in character rotation + Quaternion change = Quaternion.FromToRotation(lastForward, transform.forward); + float deltaAngle = 0; + Vector3 axis = Vector3.zero; + change.ToAngleAxis(out deltaAngle, out axis); + if (axis.y > 0) deltaAngle = -deltaAngle; + + deltaAngle *= tiltSensitivity * 0.01f; + deltaAngle /= deltaTime; + deltaAngle = Mathf.Clamp(deltaAngle, -1f, 1f); + + tiltAngle = Mathf.Lerp(tiltAngle, deltaAngle, deltaTime * tiltSpeed); + + // Applying positionOffsets + float tiltF = Mathf.Abs(tiltAngle) / 1f; + if (tiltAngle < 0) poseRight.Apply(ik.solver, tiltF); + else poseLeft.Apply(ik.solver, tiltF); + + // Store current character forward axis and Time + lastForward = transform.forward; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs.meta new file mode 100644 index 00000000..556fd1f7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/BodyTilt.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 8e1cd8d7247544f61bad689b61e39770 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs new file mode 100644 index 00000000..5a632f91 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs @@ -0,0 +1,44 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.FinalIK +{ + + /// + /// Bend goal object for CCDIK. Add this to a GameObject you wish CCD to bend towards. + /// + 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; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs.meta new file mode 100644 index 00000000..bb1dcae3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDBendGoal.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 285f2e66b1fe97b4797ef0cb776a5682 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs new file mode 100644 index 00000000..90ccf0d7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs @@ -0,0 +1,59 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.FinalIK +{ + + /// + /// Automatic stretch and squash for CCDIK. + /// + public class CCDStretch : MonoBehaviour + { + + public CCDIK ik; + [Range(0f, 0.999f)] public float maxSquash = 0f; + public float maxStretch = 2f; + + private Vector3[] defaultLocalPositions = new Vector3[0]; + + private void Start() + { + // Store default localPositions + defaultLocalPositions = new Vector3[ik.solver.bones.Length - 1]; + for (int i = 1; i < ik.solver.bones.Length; i++) + { + defaultLocalPositions[i - 1] = ik.solver.bones[i].transform.localPosition; + } + } + + private void LateUpdate() + { + // Reset to default localPositions + for (int i = 1; i < ik.solver.bones.Length; i++) + { + ik.solver.bones[i].transform.localPosition = defaultLocalPositions[i - 1]; + } + + // Get distance from first bone to target + float targetDist = Vector3.Magnitude((ik.solver.target != null ? ik.solver.target.position : ik.solver.IKPosition) - ik.solver.bones[0].transform.position); + + // Get bone chain length + float chainLength = 0f; + for (int i = 1; i < ik.solver.bones.Length; i++) + { + chainLength += Vector3.Magnitude(ik.solver.bones[i].transform.position - ik.solver.bones[i - 1].transform.position); + } + + // Compare target distance to chain length... + maxStretch = Mathf.Max(maxStretch, 1f); + float mlp = Mathf.Clamp(targetDist / chainLength, 1f - maxSquash, maxStretch); + + // Stretch + for (int i = 1; i < ik.solver.bones.Length; i++) + { + ik.solver.bones[i].transform.localPosition *= mlp; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs.meta new file mode 100644 index 00000000..0776200c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/CCDStretch.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 4b2826fa4f637534ebedd76eb2cf6565 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs new file mode 100644 index 00000000..9a858858 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs @@ -0,0 +1,104 @@ +using UnityEngine; +using System.Collections; +using UnityEngine.Playables; + +namespace RootMotion.FinalIK +{ + /// + /// Updates any Final IK component in Editor mode + /// + [ExecuteInEditMode] + public class EditorIK : MonoBehaviour + { + [Tooltip("If slot assigned, will evaluate PlayableDirector before solving the IK.")] public PlayableDirector playableDirector; + [Tooltip("If slot assigned, will update Animator before solving the IK.")] public Animator animator; + [Tooltip("Create/Final IK/Editor IK Pose")] public EditorIKPose defaultPose; + + [HideInInspector] public Transform[] bones = new Transform[0]; + + public IK ik { get; private set; } + + private void OnEnable() + { + if (Application.isPlaying) return; + if (ik == null) ik = GetComponent(); + if (ik == null) + { + Debug.LogError("EditorIK needs to have an IK component on the same GameObject.", transform); + return; + } + if (bones.Length == 0) bones = ik.transform.GetComponentsInChildren(); + } + + private void OnDisable() + { + if (Application.isPlaying) return; + if (defaultPose != null && defaultPose.poseStored) defaultPose.Restore(bones); + if (ik != null) ik.GetIKSolver().executedInEditor = false; + } + + private void OnDestroy() + { + if (Application.isPlaying) return; + if (ik == null) return; + if (bones.Length == 0) bones = ik.transform.GetComponentsInChildren(); + if (defaultPose != null && defaultPose.poseStored && bones.Length != 0) defaultPose.Restore(bones); + ik.GetIKSolver().executedInEditor = false; + } + + public void StoreDefaultPose() + { + bones = ik.transform.GetComponentsInChildren(); + defaultPose.Store(bones); + } + + public bool Initiate() + { + if (defaultPose == null) return false; + if (!defaultPose.poseStored) return false; + if (bones.Length == 0) return false; + + if (ik == null) ik = GetComponent(); + if (ik == null) + { + Debug.LogError("EditorIK can not find an IK component.", transform); + return false; + } + + defaultPose.Restore(bones); + + ik.GetIKSolver().executedInEditor = false; + ik.GetIKSolver().Initiate(ik.transform); + ik.GetIKSolver().executedInEditor = true; + return true; + } + + public void Update() + { + if (Application.isPlaying) return; + if (ik == null) return; + if (!ik.enabled) return; + if (!ik.GetIKSolver().executedInEditor) return; + if (bones.Length == 0) bones = ik.transform.GetComponentsInChildren(); + if (bones.Length == 0) return; + + if (!defaultPose.Restore(bones)) return; + + ik.GetIKSolver().executedInEditor = false; + if (!ik.GetIKSolver().initiated) ik.GetIKSolver().Initiate(ik.transform); + if (!ik.GetIKSolver().initiated) return; + ik.GetIKSolver().executedInEditor = true; + + if (playableDirector != null) + { + playableDirector.Evaluate(); + } + else + { + if (animator != null && animator.runtimeAnimatorController != null) animator.Update(Time.deltaTime); + } + + ik.GetIKSolver().Update(); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs.meta new file mode 100644 index 00000000..af38e149 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c52e6f5c6ccaca0479ac0f3748e75992 +timeCreated: 1520429340 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs new file mode 100644 index 00000000..7110b77a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs @@ -0,0 +1,51 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.FinalIK +{ + [CreateAssetMenu(fileName = "Editor IK Pose", menuName = "Final IK/Editor IK Pose", order = 1)] + public class EditorIKPose : ScriptableObject + { + + public Vector3[] localPositions = new Vector3[0]; + public Quaternion[] localRotations = new Quaternion[0]; + + public bool poseStored + { + get + { + return localPositions.Length > 0; + } + } + + public void Store(Transform[] T) + { + localPositions = new Vector3[T.Length]; + localRotations = new Quaternion[T.Length]; + + for (int i = 1; i < T.Length; i++) + { + localPositions[i] = T[i].localPosition; + localRotations[i] = T[i].localRotation; + } + } + + public bool Restore(Transform[] T) + { + if (localPositions.Length != T.Length) + { + Debug.LogError("Can not restore pose (unmatched bone count). Please stop the solver and click on 'Store Default Pose' if you have made changes to character hierarchy."); + return false; + } + + for (int i = 1; i < T.Length; i++) + { + T[i].localPosition = localPositions[i]; + T[i].localRotation = localRotations[i]; + } + + return true; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs.meta new file mode 100644 index 00000000..4b601425 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/EditorIKPose.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: c8598cb8df1b85a4e8e2bd3c92a6ba62 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs new file mode 100644 index 00000000..41bf63e6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs @@ -0,0 +1,41 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK +{ + /// + /// Bend goal object for FABRIK. Add this to a GameObject you wish FABRIK to bend towards. + /// + public class FABRIKBendGoal : MonoBehaviour + { + + public FABRIK ik; + [Range(0f, 1f)] public float weight = 1f; + + private void Start() + { + ik.solver.OnPreIteration += OnPreIteration; + } + + void OnPreIteration(int it) + { + if (it != 0) return; + if (weight <= 0f) return; + + Vector3 bendDirection = transform.position - ik.solver.bones[0].transform.position; + bendDirection *= weight; + + foreach (IKSolverFABRIK.Bone bone in ik.solver.bones) + { + bone.solverPosition += bendDirection; + } + } + + private void OnDestroy() + { + if (ik != null) ik.solver.OnPreIteration -= OnPreIteration; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs.meta new file mode 100644 index 00000000..d65c238e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKBendGoal.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: e00635d593e21414082963c80e4a4327 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs new file mode 100644 index 00000000..346acf25 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs @@ -0,0 +1,59 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.FinalIK +{ + + /// + /// Automatic stretch and squash for FABRIK. + /// + public class FABRIKStretch : MonoBehaviour + { + + public FABRIK ik; + [Range(0f, 0.999f)] public float maxSquash = 0f; + public float maxStretch = 2f; + + private Vector3[] defaultLocalPositions = new Vector3[0]; + + private void Start() + { + // Store default localPositions + defaultLocalPositions = new Vector3[ik.solver.bones.Length - 1]; + for (int i = 1; i < ik.solver.bones.Length; i++) + { + defaultLocalPositions[i - 1] = ik.solver.bones[i].transform.localPosition; + } + } + + private void LateUpdate() + { + // Reset to default localPositions + for (int i = 1; i < ik.solver.bones.Length; i++) + { + ik.solver.bones[i].transform.localPosition = defaultLocalPositions[i - 1]; + } + + // Get distance from first bone to target + float targetDist = Vector3.Magnitude((ik.solver.target != null ? ik.solver.target.position : ik.solver.IKPosition) - ik.solver.bones[0].transform.position); + + // Get bone chain length + float chainLength = 0f; + for (int i = 1; i < ik.solver.bones.Length; i++) + { + chainLength += Vector3.Magnitude(ik.solver.bones[i].transform.position - ik.solver.bones[i - 1].transform.position); + } + + // Compare target distance to chain length... + maxStretch = Mathf.Max(maxStretch, 1f); + float mlp = Mathf.Clamp(targetDist / chainLength, 1f - maxSquash, maxStretch); + + // Stretch + for (int i = 1; i < ik.solver.bones.Length; i++) + { + ik.solver.bones[i].transform.localPosition *= mlp; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs.meta new file mode 100644 index 00000000..a75ae66d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/FABRIKStretch.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 977397d3381a5a2438c10b308b9d43ad +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs new file mode 100644 index 00000000..1a81438f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs @@ -0,0 +1,253 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Class for creating procedural FBBIK hit reactions. + /// + public class HitReaction : OffsetModifier { + + /// + /// Hit point definition + /// + [System.Serializable] + public abstract class HitPoint { + + [Tooltip("Just for visual clarity, not used at all")] + public string name; + [Tooltip("Linking this hit point to a collider")] + public Collider collider; + [Tooltip("Only used if this hit point gets hit when already processing another hit")] + [SerializeField] float crossFadeTime = 0.1f; + + public bool inProgress { get { return timer < length; } } + + protected float crossFader { get; private set; } + protected float timer { get; private set; } + protected Vector3 force { get; private set; } + + private float length; + private float crossFadeSpeed; + private float lastTime; + + // Start processing the hit + public virtual void Hit(Vector3 force, Vector3 point) { + if (length == 0f) length = GetLength(); + if (length <= 0f) { + Debug.LogError("Hit Point WeightCurve length is zero."); + return; + } + + // Start crossfading if the last hit has not completed yet + if (timer < 1f) crossFader = 0f; + crossFadeSpeed = crossFadeTime > 0f? 1f / crossFadeTime: 0f; + CrossFadeStart(); + + // Reset timer + timer = 0f; + + // Remember hit direction and point + this.force = force; + } + + // Apply to IKSolverFullBodyBiped + public void Apply(IKSolverFullBodyBiped solver, float weight) { + float deltaTime = Time.time - lastTime; + lastTime = Time.time; + + if (timer >= length) { + return; + } + + // Advance the timer + timer = Mathf.Clamp(timer + deltaTime, 0f, length); + + // Advance the crossFader + if (crossFadeSpeed > 0f) crossFader = Mathf.Clamp(crossFader + (deltaTime * crossFadeSpeed), 0f, 1f); + else crossFader = 1f; + + // Pass this on to the hit points + OnApply(solver, weight); + } + + protected abstract float GetLength(); + protected abstract void CrossFadeStart(); + protected abstract void OnApply(IKSolverFullBodyBiped solver, float weight); + } + + /// + /// Hit Point for FBBIK effectors + /// + [System.Serializable] + public class HitPointEffector: HitPoint { + + /// + /// Linking a FBBIK effector to this effector hit point + /// + [System.Serializable] + public class EffectorLink { + [Tooltip("The FBBIK effector type")] + public FullBodyBipedEffector effector; + [Tooltip("The weight of this effector (could also be negative)")] + public float weight; + + private Vector3 lastValue; + private Vector3 current; + + // Apply an offset to this effector + public void Apply(IKSolverFullBodyBiped solver, Vector3 offset, float crossFader) { + current = Vector3.Lerp(lastValue, offset * weight, crossFader); + + solver.GetEffector(effector).positionOffset += current; + } + + // Remember the current offset value, so we can smoothly crossfade from it + public void CrossFadeStart() { + lastValue = current; + } + } + + [Tooltip("Offset magnitude in the direction of the hit force")] + public AnimationCurve offsetInForceDirection; // + [Tooltip("Offset magnitude in the direction of character.up")] + public AnimationCurve offsetInUpDirection; // + [Tooltip("Linking this offset to the FBBIK effectors")] + public EffectorLink[] effectorLinks; + + // Returns the length of this hit (last key in the AnimationCurves) + protected override float GetLength() { + float time1 = offsetInForceDirection.keys.Length > 0? offsetInForceDirection.keys[offsetInForceDirection.length - 1].time: 0f; + float time2 = offsetInUpDirection.keys.Length > 0? offsetInUpDirection.keys[offsetInUpDirection.length - 1].time: 0f; + return Mathf.Clamp(time1, time2, time1); + } + + // Remember the current offset values for each effector, so we can smoothly crossfade from it + protected override void CrossFadeStart() { + foreach (EffectorLink e in effectorLinks) e.CrossFadeStart(); + } + + // Calculate offset, apply to FBBIK effectors + protected override void OnApply(IKSolverFullBodyBiped solver, float weight) { + Vector3 up = solver.GetRoot().up * force.magnitude; + + Vector3 offset = (offsetInForceDirection.Evaluate(timer) * force) + (offsetInUpDirection.Evaluate(timer) * up); + offset *= weight; + + foreach (EffectorLink e in effectorLinks) e.Apply(solver, offset, crossFader); + } + + } + + /// + /// Hit Point for simple bone Transforms that don't have a FBBIK effector + /// + [System.Serializable] + public class HitPointBone: HitPoint { + + /// + /// Linking a bone Transform to this bone hit point + /// + [System.Serializable] + public class BoneLink { + [Tooltip("Reference to the bone that this hit point rotates")] + public Transform bone; + [Tooltip("Weight of rotating the bone")] + [Range(0f, 1f)] public float weight; + + private Quaternion lastValue = Quaternion.identity; + private Quaternion current = Quaternion.identity; + + // Apply a rotational offset to this effector + public void Apply(IKSolverFullBodyBiped solver, Quaternion offset, float crossFader) { + current = Quaternion.Lerp(lastValue, Quaternion.Lerp(Quaternion.identity, offset, weight), crossFader); + + bone.rotation = current * bone.rotation; + } + + // Remember the current offset value, so we can smoothly crossfade from it + public void CrossFadeStart() { + lastValue = current; + } + } + + [Tooltip("The angle to rotate the bone around its rigidbody's world center of mass")] + public AnimationCurve aroundCenterOfMass; + [Tooltip("Linking this hit point to bone(s)")] + public BoneLink[] boneLinks; + + private Rigidbody rigidbody; + private Vector3 comAxis; + + public override void Hit(Vector3 force, Vector3 point) + { + base.Hit(force, point); + + if (rigidbody == null) rigidbody = collider.GetComponent(); + + Vector3 com = rigidbody != null ? rigidbody.worldCenterOfMass : collider.transform.position; + comAxis = Vector3.Cross(force, point - com); + } + + // Returns the length of this hit (last key in the AnimationCurves) + protected override float GetLength() { + return aroundCenterOfMass.keys.Length > 0? aroundCenterOfMass.keys[aroundCenterOfMass.length - 1].time: 0f; + } + + // Remember the current offset values for each bone, so we can smoothly crossfade from it + protected override void CrossFadeStart() { + foreach (BoneLink b in boneLinks) b.CrossFadeStart(); + } + + // Calculate offset, apply to the bones + protected override void OnApply(IKSolverFullBodyBiped solver, float weight) { + float comValue = aroundCenterOfMass.Evaluate(timer) * weight; + Quaternion offset = Quaternion.AngleAxis(comValue, comAxis); + + foreach (BoneLink b in boneLinks) b.Apply(solver, offset, crossFader); + } + } + + [Tooltip("Hit points for the FBBIK effectors")] + public HitPointEffector[] effectorHitPoints; + [Tooltip(" Hit points for bones without an effector, such as the head")] + public HitPointBone[] boneHitPoints; + + /// + /// Returns true if any of the hits are being processed. + /// + public bool inProgress { + get { + foreach (HitPointEffector h in effectorHitPoints) { + if (h.inProgress) return true; + } + foreach (HitPointBone h in boneHitPoints) { + if (h.inProgress) return true; + } + return false; + } + } + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + foreach (HitPointEffector e in effectorHitPoints) e.Apply(ik.solver, weight); + foreach (HitPointBone b in boneHitPoints) b.Apply(ik.solver, weight); + } + + // Hit one of the hit points (defined by hit.collider) + public void Hit(Collider collider, Vector3 force, Vector3 point) { + if (ik == null) { + Debug.LogError("No IK assigned in HitReaction"); + return; + } + + foreach (HitPointEffector e in effectorHitPoints) { + if (e.collider == collider) e.Hit(force, point); + } + + foreach (HitPointBone b in boneHitPoints) { + if (b.collider == collider) b.Hit(force, point); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs.meta new file mode 100644 index 00000000..42942c49 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReaction.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 6acf54e73e0704cd79c7669317e0cd14 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs new file mode 100644 index 00000000..2dd41c17 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs @@ -0,0 +1,247 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Class for creating procedural FBBIK hit reactions. + /// + public class HitReactionVRIK : OffsetModifierVRIK { + + public AnimationCurve[] offsetCurves; + + /// + /// Hit point definition + /// + [System.Serializable] + public abstract class Offset { + + [Tooltip("Just for visual clarity, not used at all")] + public string name; + [Tooltip("Linking this hit point to a collider")] + public Collider collider; + [Tooltip("Only used if this hit point gets hit when already processing another hit")] + [SerializeField] float crossFadeTime = 0.1f; + + protected float crossFader { get; private set; } + protected float timer { get; private set; } + protected Vector3 force { get; private set; } + + private float length; + private float crossFadeSpeed; + private float lastTime; + + // Start processing the hit + public virtual void Hit(Vector3 force, AnimationCurve[] curves, Vector3 point) { + if (length == 0f) length = GetLength(curves); + if (length <= 0f) { + Debug.LogError("Hit Point WeightCurve length is zero."); + return; + } + + // Start crossfading if the last hit has not completed yet + if (timer < 1f) crossFader = 0f; + crossFadeSpeed = crossFadeTime > 0f? 1f / crossFadeTime: 0f; + CrossFadeStart(); + + // Reset timer + timer = 0f; + + // Remember hit direction and point + this.force = force; + } + + // Apply to IKSolverFullBodyBiped + public void Apply(VRIK ik, AnimationCurve[] curves, float weight) { + float deltaTime = Time.time - lastTime; + lastTime = Time.time; + + if (timer >= length) { + return; + } + + // Advance the timer + timer = Mathf.Clamp(timer + deltaTime, 0f, length); + + // Advance the crossFader + if (crossFadeSpeed > 0f) crossFader = Mathf.Clamp(crossFader + (deltaTime * crossFadeSpeed), 0f, 1f); + else crossFader = 1f; + + // Pass this on to the hit points + OnApply(ik, curves, weight); + } + + protected abstract float GetLength(AnimationCurve[] curves); + protected abstract void CrossFadeStart(); + protected abstract void OnApply(VRIK ik, AnimationCurve[] curves, float weight); + } + + /// + /// Hit Point for FBBIK effectors + /// + [System.Serializable] + public class PositionOffset: Offset { + + /// + /// Linking a FBBIK effector to this effector hit point + /// + [System.Serializable] + public class PositionOffsetLink { + [Tooltip("The FBBIK effector type")] + public IKSolverVR.PositionOffset positionOffset; + [Tooltip("The weight of this effector (could also be negative)")] + public float weight; + + private Vector3 lastValue; + private Vector3 current; + + // Apply an offset to this effector + public void Apply(VRIK ik, Vector3 offset, float crossFader) { + current = Vector3.Lerp(lastValue, offset * weight, crossFader); + + ik.solver.AddPositionOffset(positionOffset, current); + } + + // Remember the current offset value, so we can smoothly crossfade from it + public void CrossFadeStart() { + lastValue = current; + } + } + + [Tooltip("Offset magnitude in the direction of the hit force")] + public int forceDirCurveIndex; + [Tooltip("Offset magnitude in the direction of character.up")] + public int upDirCurveIndex = 1; + [Tooltip("Linking this offset to the VRIK position offsets")] + public PositionOffsetLink[] offsetLinks; + + // Returns the length of this hit (last key in the AnimationCurves) + protected override float GetLength(AnimationCurve[] curves) { + float time1 = curves[forceDirCurveIndex].keys.Length > 0? curves[forceDirCurveIndex].keys[curves[forceDirCurveIndex].length - 1].time: 0f; + float time2 = curves[upDirCurveIndex].keys.Length > 0? curves[upDirCurveIndex].keys[curves[upDirCurveIndex].length - 1].time: 0f; + return Mathf.Clamp(time1, time2, time1); + } + + // Remember the current offset values for each effector, so we can smoothly crossfade from it + protected override void CrossFadeStart() { + foreach (PositionOffsetLink l in offsetLinks) l.CrossFadeStart(); + } + + // Calculate offset, apply to FBBIK effectors + protected override void OnApply(VRIK ik, AnimationCurve[] curves, float weight) { + Vector3 up = ik.transform.up * force.magnitude; + + Vector3 offset = (curves[forceDirCurveIndex].Evaluate(timer) * force) + (curves[upDirCurveIndex].Evaluate(timer) * up); + offset *= weight; + + foreach (PositionOffsetLink l in offsetLinks) l.Apply(ik, offset, crossFader); + } + + } + + /// + /// Hit Point for simple bone Transforms that don't have a FBBIK effector + /// + [System.Serializable] + public class RotationOffset: Offset { + + /// + /// Linking a bone Transform to this bone hit point + /// + [System.Serializable] + public class RotationOffsetLink { + [Tooltip("Reference to the bone that this hit point rotates")] + public IKSolverVR.RotationOffset rotationOffset; + [Tooltip("Weight of rotating the bone")] + [Range(0f, 1f)] public float weight; + + private Quaternion lastValue = Quaternion.identity; + private Quaternion current = Quaternion.identity; + + // Apply a rotational offset to this effector + public void Apply(VRIK ik, Quaternion offset, float crossFader) { + current = Quaternion.Lerp(lastValue, Quaternion.Lerp(Quaternion.identity, offset, weight), crossFader); + + ik.solver.AddRotationOffset(rotationOffset, current); + } + + // Remember the current offset value, so we can smoothly crossfade from it + public void CrossFadeStart() { + lastValue = current; + } + } + + [Tooltip("The angle to rotate the bone around its rigidbody's world center of mass")] + public int curveIndex; + [Tooltip("Linking this hit point to bone(s)")] + public RotationOffsetLink[] offsetLinks; + + private Rigidbody rigidbody; + private Vector3 comAxis; + + public override void Hit(Vector3 force, AnimationCurve[] curves, Vector3 point) + { + base.Hit(force, curves, point); + + if (rigidbody == null) rigidbody = collider.GetComponent(); + + Vector3 com = rigidbody != null ? rigidbody.worldCenterOfMass : collider.transform.position; + comAxis = Vector3.Cross(force, point - com); + } + + // Returns the length of this hit (last key in the AnimationCurves) + protected override float GetLength(AnimationCurve[] curves) { + return curves[curveIndex].keys.Length > 0? curves[curveIndex].keys[ curves[curveIndex].length - 1].time: 0f; + } + + // Remember the current offset values for each bone, so we can smoothly crossfade from it + protected override void CrossFadeStart() { + foreach (RotationOffsetLink l in offsetLinks) l.CrossFadeStart(); + } + + // Calculate offset, apply to the bones + protected override void OnApply(VRIK ik, AnimationCurve[] curves, float weight) { + if (collider == null) { + Debug.LogError ("No collider assigned for a HitPointBone in the HitReaction component."); + return; + } + + if (rigidbody == null) rigidbody = collider.GetComponent(); + if (rigidbody != null) { + float comValue = curves[curveIndex].Evaluate(timer) * weight; + Quaternion offset = Quaternion.AngleAxis(comValue, comAxis); + + foreach (RotationOffsetLink l in offsetLinks) l.Apply(ik, offset, crossFader); + } + } + + } + + [Tooltip("Hit points for the FBBIK effectors")] + public PositionOffset[] positionOffsets; + [Tooltip(" Hit points for bones without an effector, such as the head")] + public RotationOffset[] rotationOffsets; + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + foreach (PositionOffset p in positionOffsets) p.Apply(ik, offsetCurves, weight); + foreach (RotationOffset r in rotationOffsets) r.Apply(ik, offsetCurves, weight); + } + + // Hit one of the hit points (defined by hit.collider) + public void Hit(Collider collider, Vector3 force, Vector3 point) { + if (ik == null) { + Debug.LogError("No IK assigned in HitReaction"); + return; + } + + foreach (PositionOffset p in positionOffsets) { + if (p.collider == collider) p.Hit(force, offsetCurves, point); + } + + foreach (RotationOffset r in rotationOffsets) { + if (r.collider == collider) r.Hit(force, offsetCurves, point); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs.meta new file mode 100644 index 00000000..0192a72a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/HitReactionVRIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 01147feb37a92684a9c362eb43225c67 +timeCreated: 1460978425 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs new file mode 100644 index 00000000..854bbb17 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs @@ -0,0 +1,108 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Demo script that adds the illusion of mass to your character using FullBodyBipedIK. + /// + public class Inertia : OffsetModifier { + + /// + /// Body is just following its transform in a lazy and bouncy way. + /// + [System.Serializable] + public class Body { + + /// + /// Linking this to an effector + /// + [System.Serializable] + public class EffectorLink { + [Tooltip("Type of the FBBIK effector to use")] + public FullBodyBipedEffector effector; + [Tooltip("Weight of using this effector")] + public float weight; + } + + [Tooltip("The Transform to follow, can be any bone of the character")] + public Transform transform; + [Tooltip("Linking the body to effectors. One Body can be used to offset more than one effector")] + public EffectorLink[] effectorLinks; + [Tooltip("The speed to follow the Transform")] + public float speed = 10f; + [Tooltip("The acceleration, smaller values means lazyer following")] + public float acceleration = 3f; + [Tooltip("Matching target velocity")] + [Range(0f, 1f)] public float matchVelocity; + [Tooltip("gravity applied to the Body")] + public float gravity; + + private Vector3 delta; + private Vector3 lazyPoint; + private Vector3 direction; + private Vector3 lastPosition; + private bool firstUpdate = true; + + // Reset to Transform + public void Reset() { + if (transform == null) return; + lazyPoint = transform.position; + lastPosition = transform.position; + direction = Vector3.zero; + } + + // Update this body, apply the offset to the effector + public void Update(IKSolverFullBodyBiped solver, float weight, float deltaTime) { + if (transform == null) return; + + // If first update, set this body to Transform + if (firstUpdate) { + Reset(); + firstUpdate = false; + } + + // Acceleration + direction = Vector3.Lerp(direction, ((transform.position - lazyPoint) / deltaTime) * 0.01f, deltaTime * acceleration); + + // Lazy follow + lazyPoint += direction * deltaTime * speed; + + // Match velocity + delta = transform.position - lastPosition; + lazyPoint += delta * matchVelocity; + + // Gravity + lazyPoint.y += gravity * deltaTime; + + // Apply position offset to the effector + foreach (EffectorLink effectorLink in effectorLinks) { + + solver.GetEffector(effectorLink.effector).positionOffset += (lazyPoint - transform.position) * effectorLink.weight * weight; + } + + lastPosition = transform.position; + } + } + + [Tooltip("The array of Bodies")] + public Body[] bodies; + [Tooltip("The array of OffsetLimits")] + public OffsetLimits[] limits; + + // Reset all Bodies + public void ResetBodies() { + lastTime = Time.time; + foreach (Body body in bodies) body.Reset(); + } + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + // Update the Bodies + foreach (Body body in bodies) body.Update(ik.solver, weight, deltaTime); + + // Apply the offset limits + ApplyLimits(limits); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs.meta new file mode 100644 index 00000000..f8fb7e7e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Inertia.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 22a01f59b6ac94f1b95f51f60eff7eeb +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs new file mode 100644 index 00000000..b3ceabb0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs @@ -0,0 +1,151 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + public class LookAtController : MonoBehaviour { + + public LookAtIK ik; + + [Header("Target Smoothing")] + + [Tooltip("The target to look at. Do not use the Target transform that is assigned to LookAtIK. Set to null if you wish to stop looking.")] + public Transform target; + + [Range(0f, 1f)] public float weight = 1f; + + public Vector3 offset; + + [Tooltip("The time it takes to switch targets.")] + public float targetSwitchSmoothTime = 0.3f; + + [Tooltip("The time it takes to blend in/out of LookAtIK weight.")] + public float weightSmoothTime = 0.3f; + + [Header("Turning Towards The Target")] + + [Tooltip("Enables smooth turning towards the target according to the parameters under this header.")] + public bool smoothTurnTowardsTarget = true; + + [Tooltip("Speed of turning towards the target using Vector3.RotateTowards.")] + public float maxRadiansDelta = 3f; + + [Tooltip("Speed of moving towards the target using Vector3.RotateTowards.")] + public float maxMagnitudeDelta = 3f; + + [Tooltip("Speed of slerping towards the target.")] + public float slerpSpeed = 3f; + + [Tooltip("The position of the pivot that the look at target is rotated around relative to the root of the character.")] + public Vector3 pivotOffsetFromRoot = Vector3.up; + + [Tooltip("Minimum distance of looking from the first bone. Keeps the solver from failing if the target is too close.")] + public float minDistance = 1f; + + [Header("RootRotation")] + [Tooltip("Character root will be rotate around the Y axis to keep root forward within this angle from the look direction.")] + [Range(0f, 180f)] + public float maxRootAngle = 45f; + + private Transform lastTarget; + private float switchWeight, switchWeightV; + private float weightV; + private Vector3 lastPosition; + private Vector3 dir; + private bool lastSmoothTowardsTarget; + + void Start() { + lastPosition = ik.solver.IKPosition; + dir = ik.solver.IKPosition - pivot; + } + + void LateUpdate () { + // If target has changed... + if (target != lastTarget) { + if (lastTarget == null && target != null && ik.solver.IKPositionWeight <= 0f) { + lastPosition = target.position; + dir = target.position - pivot; + ik.solver.IKPosition = target.position + offset; + } else { + lastPosition = ik.solver.IKPosition; + dir = ik.solver.IKPosition - pivot; + } + + switchWeight = 0f; + lastTarget = target; + } + + // Smooth weight + float targetWeight = target != null ? weight : 0f; + ik.solver.IKPositionWeight = Mathf.SmoothDamp(ik.solver.IKPositionWeight, targetWeight, ref weightV, weightSmoothTime); + if (ik.solver.IKPositionWeight >= 0.999f && targetWeight > ik.solver.IKPositionWeight) ik.solver.IKPositionWeight = 1f; + if (ik.solver.IKPositionWeight <= 0.001f && targetWeight < ik.solver.IKPositionWeight) ik.solver.IKPositionWeight = 0f; + + if (ik.solver.IKPositionWeight <= 0f) return; + + // Smooth target switching + switchWeight = Mathf.SmoothDamp(switchWeight, 1f, ref switchWeightV, targetSwitchSmoothTime); + if (switchWeight >= 0.999f) switchWeight = 1f; + + if (target != null) { + ik.solver.IKPosition = Vector3.Lerp(lastPosition, target.position + offset, switchWeight); + } + + // Smooth turn towards target + if (smoothTurnTowardsTarget != lastSmoothTowardsTarget) { + dir = ik.solver.IKPosition - pivot; + lastSmoothTowardsTarget = smoothTurnTowardsTarget; + } + + if (smoothTurnTowardsTarget) { + Vector3 targetDir = ik.solver.IKPosition - pivot; + dir = Vector3.Slerp(dir, targetDir, Time.deltaTime * slerpSpeed); + dir = Vector3.RotateTowards(dir, targetDir, Time.deltaTime * maxRadiansDelta, maxMagnitudeDelta); + ik.solver.IKPosition = pivot + dir; + } + + // Min distance from the pivot + ApplyMinDistance(); + + // Root rotation + RootRotation(); + } + + // Pivot of rotating the aiming direction. + private Vector3 pivot { + get { + return ik.transform.position + ik.transform.rotation * pivotOffsetFromRoot; + } + } + + // Make sure aiming target is not too close (might make the solver instable when the target is closer to the first bone than the last bone is). + void ApplyMinDistance() { + Vector3 aimFrom = pivot; + Vector3 direction = (ik.solver.IKPosition - aimFrom); + direction = direction.normalized * Mathf.Max(direction.magnitude, minDistance); + + ik.solver.IKPosition = aimFrom + direction; + } + + // Character root will be rotate around the Y axis to keep root forward within this angle from the looking direction. + private void RootRotation() { + float max = Mathf.Lerp(180f, maxRootAngle, ik.solver.IKPositionWeight); + + if (max < 180f) { + Vector3 faceDirLocal = Quaternion.Inverse(ik.transform.rotation) * (ik.solver.IKPosition - pivot); + float angle = Mathf.Atan2(faceDirLocal.x, faceDirLocal.z) * Mathf.Rad2Deg; + + float rotation = 0f; + + if (angle > max) { + rotation = angle - max; + } + if (angle < -max) { + rotation = angle + max; + } + + ik.transform.rotation = Quaternion.AngleAxis(rotation, ik.transform.up) * ik.transform.rotation; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs.meta new file mode 100644 index 00000000..6450bf0b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/LookAtController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 8362d7c66e966dd498d59b31392d5148 +timeCreated: 1517046310 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs new file mode 100644 index 00000000..2fdb698f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs @@ -0,0 +1,113 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Base class for all FBBIK effector positionOffset modifiers. Works with animatePhysics, safe delegates, offset limits. + /// + public abstract class OffsetModifier: MonoBehaviour { + + /// + /// Limiting effector position offsets + /// + [System.Serializable] + public class OffsetLimits { + + [Tooltip("The effector type (this is just an enum)")] + public FullBodyBipedEffector effector; + [Tooltip("Spring force, if zero then this is a hard limit, if not, offset can exceed the limit.")] + public float spring = 0f; + [Tooltip("Which axes to limit the offset on?")] + public bool x, y, z; + [Tooltip("The limits")] + public float minX, maxX, minY, maxY, minZ, maxZ; + + // Apply the limit to the effector + public void Apply(IKEffector e, Quaternion rootRotation) { + Vector3 offset = Quaternion.Inverse(rootRotation) * e.positionOffset; + + if (spring <= 0f) { + // Hard limits + if (x) offset.x = Mathf.Clamp(offset.x, minX, maxX); + if (y) offset.y = Mathf.Clamp(offset.y, minY, maxY); + if (z) offset.z = Mathf.Clamp(offset.z, minZ, maxZ); + } else { + // Soft limits + if (x) offset.x = SpringAxis(offset.x, minX, maxX); + if (y) offset.y = SpringAxis(offset.y, minY, maxY); + if (z) offset.z = SpringAxis(offset.z, minZ, maxZ); + } + + // Apply to the effector + e.positionOffset = rootRotation * offset; + } + + // Just math for limiting floats + private float SpringAxis(float value, float min, float max) { + if (value > min && value < max) return value; + if (value < min) return Spring(value, min, true); + return Spring(value, max, false); + } + + // Spring math + private float Spring(float value, float limit, bool negative) { + float illegal = value - limit; + float s = illegal * spring; + + if (negative) return value + Mathf.Clamp(-s, 0, -illegal); + return value - Mathf.Clamp(s, 0, illegal); + } + } + + [Tooltip("The master weight")] + public float weight = 1f; + + [Tooltip("Reference to the FBBIK component")] + public FullBodyBipedIK ik; + + // not using Time.deltaTime or Time.fixedDeltaTime here, because we don't know if animatePhysics is true or not on the character, so we have to keep track of time ourselves. + protected float deltaTime { get { return Time.time - lastTime; }} + protected abstract void OnModifyOffset(); + + protected float lastTime; + + protected virtual void Start() { + StartCoroutine(Initiate()); + } + + private IEnumerator Initiate() { + while (ik == null) yield return null; + + // You can use just LateUpdate, but note that it doesn't work when you have animatePhysics turned on for the character. + ik.solver.OnPreUpdate += ModifyOffset; + lastTime = Time.time; + } + + // The main function that checks for all conditions and calls OnModifyOffset if they are met + private void ModifyOffset() { + if (!enabled) return; + if (weight <= 0f) return; + if (ik == null) return; + weight = Mathf.Clamp(weight, 0f, 1f); + if (deltaTime <= 0f) return; + + OnModifyOffset(); + + lastTime = Time.time; + } + + protected void ApplyLimits(OffsetLimits[] limits) { + // Apply the OffsetLimits + foreach (OffsetLimits limit in limits) { + limit.Apply(ik.solver.GetEffector(limit.effector), transform.rotation); + } + } + + // Remove the delegate when destroyed + protected virtual void OnDestroy() { + if (ik != null) ik.solver.OnPreUpdate -= ModifyOffset; + } + } + +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs.meta new file mode 100644 index 00000000..f75e70be --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifier.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 7953027cc122548b0861e027c35af21c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs new file mode 100644 index 00000000..56dc47e4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs @@ -0,0 +1,54 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Base class for all FBBIK effector positionOffset modifiers. Works with animatePhysics, safe delegates, offset limits. + /// + public abstract class OffsetModifierVRIK: MonoBehaviour { + + [Tooltip("The master weight")] + public float weight = 1f; + + [Tooltip("Reference to the VRIK component")] + public VRIK ik; + + // not using Time.deltaTime or Time.fixedDeltaTime here, because we don't know if animatePhysics is true or not on the character, so we have to keep track of time ourselves. + protected float deltaTime { get { return Time.time - lastTime; }} + protected abstract void OnModifyOffset(); + + private float lastTime; + + protected virtual void Start() { + StartCoroutine(Initiate()); + } + + private IEnumerator Initiate() { + while (ik == null) yield return null; + + // You can use just LateUpdate, but note that it doesn't work when you have animatePhysics turned on for the character. + ik.solver.OnPreUpdate += ModifyOffset; + lastTime = Time.time; + } + + // The main function that checks for all conditions and calls OnModifyOffset if they are met + private void ModifyOffset() { + if (!enabled) return; + if (weight <= 0f) return; + if (deltaTime <= 0f) return; + if (ik == null) return; + weight = Mathf.Clamp(weight, 0f, 1f); + + OnModifyOffset(); + + lastTime = Time.time; + } + + // Remove the delegate when destroyed + protected virtual void OnDestroy() { + if (ik != null) ik.solver.OnPreUpdate -= ModifyOffset; + } + } + +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs.meta new file mode 100644 index 00000000..9152b180 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetModifierVRIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 8e5a797878a3ba546bb923162b51a8e6 +timeCreated: 1460978461 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs new file mode 100644 index 00000000..e39b17a9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs @@ -0,0 +1,58 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK { + + /// + /// Definition of FBBIK Offset pose. + /// + public class OffsetPose: MonoBehaviour { + + /// + /// State of an effector in this pose + /// + [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); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs.meta new file mode 100644 index 00000000..20ebc938 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/OffsetPose.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5405d3fc16a5b4a0bada53e2da651d3a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs new file mode 100644 index 00000000..5bad1285 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs @@ -0,0 +1,89 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK { + + /// + /// Prevents body parts from penetrating scene geometry by offsetting effectors away from the colliders. + /// + public class PenetrationAvoidance : OffsetModifier { + + /// + /// Definition of avoidance and raycasting info. + /// + [System.Serializable] + public class Avoider { + + /// + /// Linking this to an effector + /// + [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); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs.meta new file mode 100644 index 00000000..1c1fb15c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/PenetrationAvoidance.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 0095dcee0a4564ca993da4df9dfb070e +timeCreated: 1436511903 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs new file mode 100644 index 00000000..d4b158bc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs @@ -0,0 +1,287 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /// + /// Procedural recoil using FBBIK. + /// + public class Recoil : OffsetModifier + { + + [System.Serializable] + public class RecoilOffset + { + + [Tooltip("Offset vector for the associated effector when doing recoil.")] + public Vector3 offset; + [Tooltip("When firing before the last recoil has faded, how much of the current recoil offset will be maintained?")] + [Range(0f, 1f)] public float additivity = 1f; + [Tooltip("Max additive recoil for automatic fire.")] + public float maxAdditiveOffsetMag = 0.2f; + + // Linking this to an effector + [System.Serializable] + public class EffectorLink + { + [Tooltip("Type of the FBBIK effector to use")] + public FullBodyBipedEffector effector; + [Tooltip("Weight of using this effector")] + public float weight; + } + + [Tooltip("Linking this recoil offset to FBBIK effectors.")] + public EffectorLink[] effectorLinks; + + private Vector3 additiveOffset; + private Vector3 lastOffset; + + // Start recoil + public void Start() + { + if (additivity <= 0f) return; + + additiveOffset = Vector3.ClampMagnitude(lastOffset * additivity, maxAdditiveOffsetMag); + } + + // Apply offset to FBBIK effectors + public void Apply(IKSolverFullBodyBiped solver, Quaternion rotation, float masterWeight, float length, float timeLeft) + { + additiveOffset = Vector3.Lerp(Vector3.zero, additiveOffset, timeLeft / length); + lastOffset = (rotation * (offset * masterWeight)) + (rotation * additiveOffset); + + foreach (EffectorLink e in effectorLinks) + { + solver.GetEffector(e.effector).positionOffset += lastOffset * e.weight; + } + } + } + + [System.Serializable] + public enum Handedness + { + Right, + Left + } + + [Tooltip("Reference to the AimIK component. Optional, only used to getting the aiming direction.")] + public AimIK aimIK; + [Tooltip("Optional head AimIK solver. This solver should only use neck and head bones and have the head as Aim Transform")] + public AimIK headIK; + [Tooltip("Set this true if you are using IKExecutionOrder.cs or a custom script to force AimIK solve after FBBIK.")] + public bool aimIKSolvedLast; + [Tooltip("Which hand is holding the weapon?")] + public Handedness handedness; + [Tooltip("Check for 2-handed weapons.")] + public bool twoHanded = true; + [Tooltip("Weight curve for the recoil offsets. Recoil procedure is as long as this curve.")] + public AnimationCurve recoilWeight; + [Tooltip("How much is the magnitude randomized each time Recoil is called?")] + public float magnitudeRandom = 0.1f; + [Tooltip("How much is the rotation randomized each time Recoil is called?")] + public Vector3 rotationRandom; + [Tooltip("Rotating the primary hand bone for the recoil (in local space).")] + public Vector3 handRotationOffset; + [Tooltip("Time of blending in another recoil when doing automatic fire.")] + public float blendTime; + + [Space(10)] + + [Tooltip("FBBIK effector position offsets for the recoil (in aiming direction space).")] + public RecoilOffset[] offsets; + + [HideInInspector] public Quaternion rotationOffset = Quaternion.identity; + + private float magnitudeMlp = 1f; + private float endTime = -1f; + private Quaternion handRotation, secondaryHandRelativeRotation, randomRotation; + private float length = 1f; + private bool initiated; + private float blendWeight; + private float w; + private Quaternion primaryHandRotation = Quaternion.identity; + //private Quaternion secondaryHandRotation = Quaternion.identity; + private bool handRotationsSet; + private Vector3 aimIKAxis; + + /// + /// Returns true if recoil has finished or has not been called at all. + /// + public bool isFinished + { + get + { + return Time.time > endTime; + } + } + + /// + /// Sets the starting rotations for the hands for 1 frame. Use this if the final rotation of the hands will not be the same as before FBBIK solves. + /// + public void SetHandRotations(Quaternion leftHandRotation, Quaternion rightHandRotation) + { + if (handedness == Handedness.Left) + { + primaryHandRotation = leftHandRotation; + //secondaryHandRotation = rightHandRotation; + } + else + { + primaryHandRotation = rightHandRotation; + //secondaryHandRotation = leftHandRotation; + } + + handRotationsSet = true; + } + + /// + /// Starts the recoil procedure. + /// + public void Fire(float magnitude) + { + float rnd = magnitude * UnityEngine.Random.value * magnitudeRandom; + magnitudeMlp = magnitude + rnd; + + randomRotation = Quaternion.Euler(rotationRandom * UnityEngine.Random.value); + + foreach (RecoilOffset offset in offsets) + { + offset.Start(); + } + + if (Time.time < endTime) blendWeight = 0f; + else blendWeight = 1f; + + Keyframe[] keys = recoilWeight.keys; + length = keys[keys.Length - 1].time; + endTime = Time.time + length; + } + + protected override void OnModifyOffset() + { + if (aimIK != null) aimIKAxis = aimIK.solver.axis; + + if (!initiated && ik != null) + { + initiated = true; + if (headIK != null) headIK.enabled = false; + ik.solver.OnPostUpdate += AfterFBBIK; + if (aimIK != null) aimIK.solver.OnPostUpdate += AfterAimIK; + } + + if (Time.time >= endTime) + { + rotationOffset = Quaternion.identity; + return; + } + + blendTime = Mathf.Max(blendTime, 0f); + if (blendTime > 0f) blendWeight = Mathf.Min(blendWeight + Time.deltaTime * (1f / blendTime), 1f); + else blendWeight = 1f; + + // Current weight of offset + float wTarget = recoilWeight.Evaluate(length - (endTime - Time.time)) * magnitudeMlp; + w = Mathf.Lerp(w, wTarget, blendWeight); + + // Find the rotation space of the recoil + Quaternion lookRotation = aimIK != null && aimIK.solver.transform != null && !aimIKSolvedLast ? Quaternion.LookRotation(aimIK.solver.IKPosition - aimIK.solver.transform.position, ik.references.root.up) : ik.references.root.rotation; + lookRotation = randomRotation * lookRotation; + + // Apply FBBIK effector positionOffsets + foreach (RecoilOffset offset in offsets) + { + offset.Apply(ik.solver, lookRotation, w, length, endTime - Time.time); + } + + if (!handRotationsSet) + { + primaryHandRotation = primaryHand.rotation; + //if (twoHanded) secondaryHandRotation = secondaryHand.rotation; + } + handRotationsSet = false; + + // Rotation offset of the primary hand + rotationOffset = Quaternion.Lerp(Quaternion.identity, Quaternion.Euler(randomRotation * primaryHandRotation * handRotationOffset), w); + handRotation = rotationOffset * primaryHandRotation; + + // Fix the secondary hand relative to the primary hand + if (twoHanded) + { + Vector3 secondaryHandRelativePosition = Quaternion.Inverse(primaryHand.rotation) * (secondaryHand.position - primaryHand.position); + secondaryHandRelativeRotation = Quaternion.Inverse(primaryHand.rotation) * secondaryHand.rotation; + + Vector3 primaryHandPosition = primaryHand.position + primaryHandEffector.positionOffset; + Vector3 secondaryHandPosition = primaryHandPosition + handRotation * secondaryHandRelativePosition; + + secondaryHandEffector.positionOffset += secondaryHandPosition - (secondaryHand.position + secondaryHandEffector.positionOffset); + } + + if (aimIK != null && aimIKSolvedLast) aimIK.solver.axis = Quaternion.Inverse(ik.references.root.rotation) * Quaternion.Inverse(rotationOffset) * aimIKAxis; + } + + private void AfterFBBIK() + { + if (Time.time < endTime) + { + // Rotate the hand bones + primaryHand.rotation = handRotation; + if (twoHanded) secondaryHand.rotation = primaryHand.rotation * secondaryHandRelativeRotation; + } + + if (!aimIKSolvedLast && headIK != null) headIK.solver.Update(); + } + + private void AfterAimIK() + { + if (aimIKSolvedLast) aimIK.solver.axis = aimIKAxis; + if (aimIKSolvedLast && headIK != null) headIK.solver.Update(); + } + + // Shortcuts + private IKEffector primaryHandEffector + { + get + { + if (handedness == Handedness.Right) return ik.solver.rightHandEffector; + return ik.solver.leftHandEffector; + } + } + + private IKEffector secondaryHandEffector + { + get + { + if (handedness == Handedness.Right) return ik.solver.leftHandEffector; + return ik.solver.rightHandEffector; + } + } + + private Transform primaryHand + { + get + { + return primaryHandEffector.bone; + } + } + + private Transform secondaryHand + { + get + { + return secondaryHandEffector.bone; + } + } + + protected override void OnDestroy() + { + base.OnDestroy(); + if (ik != null && initiated) + { + ik.solver.OnPostUpdate -= AfterFBBIK; + if (aimIK != null) aimIK.solver.OnPostUpdate -= AfterAimIK; + } + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs.meta new file mode 100644 index 00000000..0a8013e0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/Recoil.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2c613189034e145e5abecee53af1ce0e +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs new file mode 100644 index 00000000..bbd6c4eb --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs @@ -0,0 +1,77 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK { + + /// + /// 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. + /// + 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(); + + // 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; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs.meta new file mode 100644 index 00000000..a9cca37a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/ShoulderRotator.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a48af8ef2fd147446af3c65186a1cd9e +MonoImporter: + 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5 + m_ObjectHideFlags: 3 + m_PrefabParentObject: {fileID: 0} + m_PrefabInternal: {fileID: 0} + m_Name: VRIK Animated Locomotion + m_ChildStates: + - serializedVersion: 1 + m_State: {fileID: 1102982190280266566} + m_Position: {x: 300, y: -12, z: 0} + - serializedVersion: 1 + m_State: {fileID: 1102287253078783432} + m_Position: {x: 300, y: 108, z: 0} + m_ChildStateMachines: [] + m_AnyStateTransitions: [] + m_EntryTransitions: [] + m_StateMachineTransitions: {} + m_StateMachineBehaviours: [] + m_AnyStatePosition: {x: 50, y: 20, z: 0} + m_EntryPosition: {x: 50, y: 120, z: 0} + m_ExitPosition: {x: 800, y: 120, z: 0} + m_ParentStateMachinePosition: {x: 780, y: 48, z: 0} + m_DefaultState: {fileID: 1102982190280266566} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIK Animated Locomotion.controller.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIK Animated Locomotion.controller.meta new file mode 100644 index 00000000..595eb9bf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIK Animated Locomotion.controller.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 78f02360f31c1a547b937559d34b03b1 +timeCreated: 1512733284 +licenseType: Store +NativeFormatImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs new file mode 100644 index 00000000..d47b853b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs @@ -0,0 +1,636 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.FinalIK +{ + + /// + /// Calibrates VRIK for the HMD and up to 5 additional trackers. + /// + public static class VRIKCalibrator + { + + /// + /// The settings for VRIK tracker calibration. + /// + [System.Serializable] + public class Settings + { + + /// + /// Multiplies character scale. + /// + [Tooltip("Multiplies character scale")] + public float scaleMlp = 1f; + + /// + /// Local axis of the HMD facing forward. + /// + [Tooltip("Local axis of the HMD facing forward.")] + public Vector3 headTrackerForward = Vector3.forward; + + /// + /// Local axis of the HMD facing up. + /// + [Tooltip("Local axis of the HMD facing up.")] + public Vector3 headTrackerUp = Vector3.up; + + /// + /// Local axis of the hand trackers pointing from the wrist towards the palm. + /// + [Tooltip("Local axis of the hand trackers pointing from the wrist towards the palm.")] + public Vector3 handTrackerForward = Vector3.forward; + + /// + /// Local axis of the hand trackers pointing in the direction of the surface normal of the back of the hand. + /// + [Tooltip("Local axis of the hand trackers pointing in the direction of the surface normal of the back of the hand.")] + public Vector3 handTrackerUp = Vector3.up; + + /// + /// Local axis of the foot trackers towards the player's forward direction. + /// + [Tooltip("Local axis of the foot trackers towards the player's forward direction.")] + public Vector3 footTrackerForward = Vector3.forward; + + /// + /// Local axis of the foot tracker towards the up direction. + /// + [Tooltip("Local axis of the foot tracker towards the up direction.")] + public Vector3 footTrackerUp = Vector3.up; + + [Space(10f)] + /// + /// Offset of the head bone from the HMD in (headTrackerForward, headTrackerUp) space relative to the head tracker. + /// + [Tooltip("Offset of the head bone from the HMD in (headTrackerForward, headTrackerUp) space relative to the head tracker.")] + public Vector3 headOffset; + + /// + /// Offset of the hand bones from the hand trackers in (handTrackerForward, handTrackerUp) space relative to the hand trackers. + /// + [Tooltip("Offset of the hand bones from the hand trackers in (handTrackerForward, handTrackerUp) space relative to the hand trackers.")] + public Vector3 handOffset; + + /// + /// Forward offset of the foot bones from the foot trackers. + /// + [Tooltip("Forward offset of the foot bones from the foot trackers.")] + public float footForwardOffset; + + /// + /// Inward offset of the foot bones from the foot trackers. + /// + [Tooltip("Inward offset of the foot bones from the foot trackers.")] + public float footInwardOffset; + + /// + /// Used for adjusting foot heading relative to the foot trackers. + /// + [Tooltip("Used for adjusting foot heading relative to the foot trackers.")] + [Range(-180f, 180f)] + public float footHeadingOffset; + + /// + /// Pelvis target position weight. If the body tracker is on the backpack or somewhere else not very close to the pelvis of the player, position weight needs to be reduced to allow some bending for the spine. + /// + [Range(0f, 1f)] public float pelvisPositionWeight = 1f; + + /// + /// Pelvis target rotation weight. If the body tracker is on the backpack or somewhere else not very close to the pelvis of the player, rotation weight needs to be reduced to allow some bending for the spine. + /// + [Range(0f, 1f)] public float pelvisRotationWeight = 1f; + } + + /// + /// Recalibrates only the avatar scale, updates CalibrationData to the new scale value + /// + public static void RecalibrateScale(VRIK ik, CalibrationData data, Settings settings) + { + RecalibrateScale(ik, data, settings.scaleMlp); + } + + /// + /// Recalibrates only the avatar scale, updates CalibrationData to the new scale value + /// + public static void RecalibrateScale(VRIK ik, CalibrationData data, float scaleMlp) + { + CalibrateScale(ik, scaleMlp); + data.scale = ik.references.root.localScale.y; + } + + /// + /// Calibrates only the avatar scale. + /// + private static void CalibrateScale(VRIK ik, Settings settings) + { + CalibrateScale(ik, settings.scaleMlp); + } + + /// + /// Calibrates only the avatar scale. + /// + private static void CalibrateScale(VRIK ik, float scaleMlp = 1f) + { + float sizeF = (ik.solver.spine.headTarget.position.y - ik.references.root.position.y) / (ik.references.head.position.y - ik.references.root.position.y); + ik.references.root.localScale *= sizeF * scaleMlp; + } + + /// + /// Calibrates VRIK to the specified trackers using the VRIKTrackerCalibrator.Settings. + /// + /// Reference to the VRIK component. + /// Calibration settings. + /// The HMD. + /// (Optional) A tracker placed anywhere on the body of the player, preferrably close to the pelvis, on the belt area. + /// (Optional) A tracker or hand controller device placed anywhere on or in the player's left hand. + /// (Optional) A tracker or hand controller device placed anywhere on or in the player's right hand. + /// (Optional) A tracker placed anywhere on the ankle or toes of the player's left leg. + /// (Optional) A tracker placed anywhere on the ankle or toes of the player's right leg. + public static CalibrationData Calibrate(VRIK ik, Settings settings, Transform headTracker, Transform bodyTracker = null, Transform leftHandTracker = null, Transform rightHandTracker = null, Transform leftFootTracker = null, Transform rightFootTracker = null) + { + if (!ik.solver.initiated) + { + Debug.LogError("Can not calibrate before VRIK has initiated."); + return null; + } + + if (headTracker == null) + { + Debug.LogError("Can not calibrate VRIK without the head tracker."); + return null; + } + + CalibrationData data = new CalibrationData(); + + ik.solver.FixTransforms(); + + // Root position and rotation + Vector3 headPos = headTracker.position + headTracker.rotation * Quaternion.LookRotation(settings.headTrackerForward, settings.headTrackerUp) * settings.headOffset; + ik.references.root.position = new Vector3(headPos.x, ik.references.root.position.y, headPos.z); + Vector3 headForward = headTracker.rotation * settings.headTrackerForward; + headForward.y = 0f; + ik.references.root.rotation = Quaternion.LookRotation(headForward); + + // Head + Transform headTarget = ik.solver.spine.headTarget == null ? (new GameObject("Head Target")).transform : ik.solver.spine.headTarget; + headTarget.position = headPos; + headTarget.rotation = ik.references.head.rotation; + headTarget.parent = headTracker; + ik.solver.spine.headTarget = headTarget; + + // Size + float sizeF = (headTarget.position.y - ik.references.root.position.y) / (ik.references.head.position.y - ik.references.root.position.y); + ik.references.root.localScale *= sizeF * settings.scaleMlp; + + // Body + if (bodyTracker != null) + { + Transform pelvisTarget = ik.solver.spine.pelvisTarget == null ? (new GameObject("Pelvis Target")).transform : ik.solver.spine.pelvisTarget; + pelvisTarget.position = ik.references.pelvis.position; + pelvisTarget.rotation = ik.references.pelvis.rotation; + pelvisTarget.parent = bodyTracker; + ik.solver.spine.pelvisTarget = pelvisTarget; + + ik.solver.spine.pelvisPositionWeight = settings.pelvisPositionWeight; + ik.solver.spine.pelvisRotationWeight = settings.pelvisRotationWeight; + + ik.solver.plantFeet = false; + ik.solver.spine.maxRootAngle = 180f; + } + else if (leftFootTracker != null && rightFootTracker != null) + { + ik.solver.spine.maxRootAngle = 0f; + } + + // Left Hand + if (leftHandTracker != null) + { + Transform leftHandTarget = ik.solver.leftArm.target == null ? (new GameObject("Left Hand Target")).transform : ik.solver.leftArm.target; + leftHandTarget.position = leftHandTracker.position + leftHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset; + Vector3 leftHandUp = Vector3.Cross(ik.solver.leftArm.wristToPalmAxis, ik.solver.leftArm.palmToThumbAxis); + leftHandTarget.rotation = QuaTools.MatchRotation(leftHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.leftArm.wristToPalmAxis, leftHandUp); + leftHandTarget.parent = leftHandTracker; + ik.solver.leftArm.target = leftHandTarget; + ik.solver.leftArm.positionWeight = 1f; + ik.solver.leftArm.rotationWeight = 1f; + } + else + { + ik.solver.leftArm.positionWeight = 0f; + ik.solver.leftArm.rotationWeight = 0f; + } + + // Right Hand + if (rightHandTracker != null) + { + Transform rightHandTarget = ik.solver.rightArm.target == null ? (new GameObject("Right Hand Target")).transform : ik.solver.rightArm.target; + rightHandTarget.position = rightHandTracker.position + rightHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp) * settings.handOffset; + Vector3 rightHandUp = -Vector3.Cross(ik.solver.rightArm.wristToPalmAxis, ik.solver.rightArm.palmToThumbAxis); + rightHandTarget.rotation = QuaTools.MatchRotation(rightHandTracker.rotation * Quaternion.LookRotation(settings.handTrackerForward, settings.handTrackerUp), settings.handTrackerForward, settings.handTrackerUp, ik.solver.rightArm.wristToPalmAxis, rightHandUp); + rightHandTarget.parent = rightHandTracker; + ik.solver.rightArm.target = rightHandTarget; + ik.solver.rightArm.positionWeight = 1f; + ik.solver.rightArm.rotationWeight = 1f; + } + else + { + ik.solver.rightArm.positionWeight = 0f; + ik.solver.rightArm.rotationWeight = 0f; + } + + // Legs + if (leftFootTracker != null) CalibrateLeg(settings, leftFootTracker, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), ik.references.root.forward, true); + if (rightFootTracker != null) CalibrateLeg(settings, rightFootTracker, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), ik.references.root.forward, false); + + // Root controller + bool addRootController = bodyTracker != null || (leftFootTracker != null && rightFootTracker != null); + var rootController = ik.references.root.GetComponent(); + + if (addRootController) + { + if (rootController == null) rootController = ik.references.root.gameObject.AddComponent(); + rootController.Calibrate(); + } + else + { + if (rootController != null) GameObject.Destroy(rootController); + } + + // Additional solver settings + ik.solver.spine.minHeadHeight = 0f; + ik.solver.locomotion.weight = bodyTracker == null && leftFootTracker == null && rightFootTracker == null ? 1f : 0f; + + // Fill in Calibration Data + data.scale = ik.references.root.localScale.y; + data.head = new CalibrationData.Target(ik.solver.spine.headTarget); + data.pelvis = new CalibrationData.Target(ik.solver.spine.pelvisTarget); + data.leftHand = new CalibrationData.Target(ik.solver.leftArm.target); + data.rightHand = new CalibrationData.Target(ik.solver.rightArm.target); + data.leftFoot = new CalibrationData.Target(ik.solver.leftLeg.target); + data.rightFoot = new CalibrationData.Target(ik.solver.rightLeg.target); + data.leftLegGoal = new CalibrationData.Target(ik.solver.leftLeg.bendGoal); + data.rightLegGoal = new CalibrationData.Target(ik.solver.rightLeg.bendGoal); + data.pelvisTargetRight = rootController != null ? rootController.pelvisTargetRight : Vector3.zero; + data.pelvisPositionWeight = ik.solver.spine.pelvisPositionWeight; + data.pelvisRotationWeight = ik.solver.spine.pelvisRotationWeight; + + return data; + } + + private static void CalibrateLeg(Settings settings, Transform tracker, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft) + { + string name = isLeft ? "Left" : "Right"; + Transform target = leg.target == null ? (new GameObject(name + " Foot Target")).transform : leg.target; + + // Space of the tracker heading + Quaternion trackerSpace = tracker.rotation * Quaternion.LookRotation(settings.footTrackerForward, settings.footTrackerUp); + Vector3 f = trackerSpace * Vector3.forward; + f.y = 0f; + trackerSpace = Quaternion.LookRotation(f); + + // Target position + float inwardOffset = isLeft ? settings.footInwardOffset : -settings.footInwardOffset; + target.position = tracker.position + trackerSpace * new Vector3(inwardOffset, 0f, settings.footForwardOffset); + target.position = new Vector3(target.position.x, lastBone.position.y, target.position.z); + + // Target rotation + target.rotation = lastBone.rotation; + + // Rotate target forward towards tracker forward + Vector3 footForward = AxisTools.GetAxisVectorToDirection(lastBone, rootForward); + if (Vector3.Dot(lastBone.rotation * footForward, rootForward) < 0f) footForward = -footForward; + Vector3 fLocal = Quaternion.Inverse(Quaternion.LookRotation(target.rotation * footForward)) * f; + float angle = Mathf.Atan2(fLocal.x, fLocal.z) * Mathf.Rad2Deg; + float headingOffset = isLeft ? settings.footHeadingOffset : -settings.footHeadingOffset; + target.rotation = Quaternion.AngleAxis(angle + headingOffset, Vector3.up) * target.rotation; + + target.parent = tracker; + leg.target = target; + + leg.positionWeight = 1f; + leg.rotationWeight = 1f; + + // Bend goal + Transform bendGoal = leg.bendGoal == null ? (new GameObject(name + " Leg Bend Goal")).transform : leg.bendGoal; + bendGoal.position = lastBone.position + trackerSpace * Vector3.forward + trackerSpace * Vector3.up;// * 0.5f; + bendGoal.parent = tracker; + leg.bendGoal = bendGoal; + leg.bendGoalWeight = 1f; + } + + /// + /// When VRIK is calibrated by calibration settings, will store CalibrationData that can be used to set up another character with the exact same calibration. + /// + [System.Serializable] + public class CalibrationData + { + [System.Serializable] + public class Target + { + public bool used; + public Vector3 localPosition; + public Quaternion localRotation; + + public Target(Transform t) + { + this.used = t != null; + if (!this.used) return; + + this.localPosition = t.localPosition; + this.localRotation = t.localRotation; + } + + public void SetTo(Transform t) + { + if (!used) return; + t.localPosition = localPosition; + t.localRotation = localRotation; + } + } + + public float scale; + public Target head, leftHand, rightHand, pelvis, leftFoot, rightFoot, leftLegGoal, rightLegGoal; + public Vector3 pelvisTargetRight; + public float pelvisPositionWeight; + public float pelvisRotationWeight; + } + + /// + /// Calibrates VRIK to the specified trackers using CalibrationData from a previous calibration. Requires this character's bone orientations to match with the character's that was used in the previous calibration. + /// + /// Reference to the VRIK component. + /// Use calibration data from a previous calibration. + /// The HMD. + /// (Optional) A tracker placed anywhere on the body of the player, preferrably close to the pelvis, on the belt area. + /// (Optional) A tracker or hand controller device placed anywhere on or in the player's left hand. + /// (Optional) A tracker or hand controller device placed anywhere on or in the player's right hand. + /// (Optional) A tracker placed anywhere on the ankle or toes of the player's left leg. + /// (Optional) A tracker placed anywhere on the ankle or toes of the player's right leg. + public static void Calibrate(VRIK ik, CalibrationData data, Transform headTracker, Transform bodyTracker = null, Transform leftHandTracker = null, Transform rightHandTracker = null, Transform leftFootTracker = null, Transform rightFootTracker = null) + { + if (!ik.solver.initiated) + { + Debug.LogError("Can not calibrate before VRIK has initiated."); + return; + } + + if (headTracker == null) + { + Debug.LogError("Can not calibrate VRIK without the head tracker."); + return; + } + + ik.solver.FixTransforms(); + + // Head + Transform headTarget = ik.solver.spine.headTarget == null ? (new GameObject("Head Target")).transform : ik.solver.spine.headTarget; + headTarget.parent = headTracker; + data.head.SetTo(headTarget); + ik.solver.spine.headTarget = headTarget; + + // Size + ik.references.root.localScale = data.scale * Vector3.one; + + // Body + if (bodyTracker != null && data.pelvis != null) + { + Transform pelvisTarget = ik.solver.spine.pelvisTarget == null ? (new GameObject("Pelvis Target")).transform : ik.solver.spine.pelvisTarget; + pelvisTarget.parent = bodyTracker; + data.pelvis.SetTo(pelvisTarget); + ik.solver.spine.pelvisTarget = pelvisTarget; + + ik.solver.spine.pelvisPositionWeight = data.pelvisPositionWeight; + ik.solver.spine.pelvisRotationWeight = data.pelvisRotationWeight; + + ik.solver.plantFeet = false; + ik.solver.spine.maxRootAngle = 180f; + } + else if (leftFootTracker != null && rightFootTracker != null) + { + ik.solver.spine.maxRootAngle = 0f; + } + + // Left Hand + if (leftHandTracker != null) + { + Transform leftHandTarget = ik.solver.leftArm.target == null ? (new GameObject("Left Hand Target")).transform : ik.solver.leftArm.target; + leftHandTarget.parent = leftHandTracker; + data.leftHand.SetTo(leftHandTarget); + ik.solver.leftArm.target = leftHandTarget; + ik.solver.leftArm.positionWeight = 1f; + ik.solver.leftArm.rotationWeight = 1f; + } + else + { + ik.solver.leftArm.positionWeight = 0f; + ik.solver.leftArm.rotationWeight = 0f; + } + + // Right Hand + if (rightHandTracker != null) + { + Transform rightHandTarget = ik.solver.rightArm.target == null ? (new GameObject("Right Hand Target")).transform : ik.solver.rightArm.target; + rightHandTarget.parent = rightHandTracker; + data.rightHand.SetTo(rightHandTarget); + ik.solver.rightArm.target = rightHandTarget; + ik.solver.rightArm.positionWeight = 1f; + ik.solver.rightArm.rotationWeight = 1f; + } + else + { + ik.solver.rightArm.positionWeight = 0f; + ik.solver.rightArm.rotationWeight = 0f; + } + + // Legs + if (leftFootTracker != null) CalibrateLeg(data, leftFootTracker, ik.solver.leftLeg, (ik.references.leftToes != null ? ik.references.leftToes : ik.references.leftFoot), ik.references.root.forward, true); + if (rightFootTracker != null) CalibrateLeg(data, rightFootTracker, ik.solver.rightLeg, (ik.references.rightToes != null ? ik.references.rightToes : ik.references.rightFoot), ik.references.root.forward, false); + + // Root controller + bool addRootController = bodyTracker != null || (leftFootTracker != null && rightFootTracker != null); + var rootController = ik.references.root.GetComponent(); + + if (addRootController) + { + if (rootController == null) rootController = ik.references.root.gameObject.AddComponent(); + rootController.Calibrate(data); + } + else + { + if (rootController != null) GameObject.Destroy(rootController); + } + + // Additional solver settings + ik.solver.spine.minHeadHeight = 0f; + ik.solver.locomotion.weight = bodyTracker == null && leftFootTracker == null && rightFootTracker == null ? 1f : 0f; + } + + private static void CalibrateLeg(CalibrationData data, Transform tracker, IKSolverVR.Leg leg, Transform lastBone, Vector3 rootForward, bool isLeft) + { + if (isLeft && data.leftFoot == null) return; + if (!isLeft && data.rightFoot == null) return; + + string name = isLeft ? "Left" : "Right"; + Transform target = leg.target == null ? (new GameObject(name + " Foot Target")).transform : leg.target; + + target.parent = tracker; + + if (isLeft) data.leftFoot.SetTo(target); + else data.rightFoot.SetTo(target); + + leg.target = target; + + leg.positionWeight = 1f; + leg.rotationWeight = 1f; + + // Bend goal + Transform bendGoal = leg.bendGoal == null ? (new GameObject(name + " Leg Bend Goal")).transform : leg.bendGoal; + bendGoal.parent = tracker; + + if (isLeft) data.leftLegGoal.SetTo(bendGoal); + else data.rightLegGoal.SetTo(bendGoal); + + leg.bendGoal = bendGoal; + leg.bendGoalWeight = 1f; + } + + /// + /// Simple calibration to head and hands using predefined anchor position and rotation offsets. + /// + /// The VRIK component. + /// HMD. + /// Left hand controller. + /// Right hand controller. + /// Position offset of the camera from the head bone (root space). + /// Rotation offset of the camera from the head bone (root space). + /// Position offset of the hand controller from the hand bone (controller space). + /// Rotation offset of the hand controller from the hand bone (controller space). + /// Multiplies the scale of the root. + /// + public static CalibrationData Calibrate(VRIK ik, Transform centerEyeAnchor, Transform leftHandAnchor, Transform rightHandAnchor, Vector3 centerEyePositionOffset, Vector3 centerEyeRotationOffset, Vector3 handPositionOffset, Vector3 handRotationOffset, float scaleMlp = 1f) + { + CalibrateHead(ik, centerEyeAnchor, centerEyePositionOffset, centerEyeRotationOffset); + CalibrateHands(ik, leftHandAnchor, rightHandAnchor, handPositionOffset, handRotationOffset); + CalibrateScale(ik, scaleMlp); + + // Fill in Calibration Data + CalibrationData data = new CalibrationData(); + data.scale = ik.references.root.localScale.y; + data.head = new CalibrationData.Target(ik.solver.spine.headTarget); + data.leftHand = new CalibrationData.Target(ik.solver.leftArm.target); + data.rightHand = new CalibrationData.Target(ik.solver.rightArm.target); + + return data; + } + + /// + /// Calibrates head IK target to specified anchor position and rotation offset independent of avatar bone orientations. + /// + public static void CalibrateHead(VRIK ik, Transform centerEyeAnchor, Vector3 anchorPositionOffset, Vector3 anchorRotationOffset) + { + if (ik.solver.spine.headTarget == null) ik.solver.spine.headTarget = new GameObject("Head IK Target").transform; + + Vector3 forward = Quaternion.Inverse(ik.references.head.rotation) * ik.references.root.forward; + Vector3 up = Quaternion.Inverse(ik.references.head.rotation) * ik.references.root.up; + Quaternion headSpace = Quaternion.LookRotation(forward, up); + + Vector3 anchorPos = ik.references.head.position + ik.references.head.rotation * headSpace * anchorPositionOffset; + Quaternion anchorRot = ik.references.head.rotation * headSpace * Quaternion.Euler(anchorRotationOffset); + Quaternion anchorRotInverse = Quaternion.Inverse(anchorRot); + + ik.solver.spine.headTarget.parent = centerEyeAnchor; + ik.solver.spine.headTarget.localPosition = anchorRotInverse * (ik.references.head.position - anchorPos); + ik.solver.spine.headTarget.localRotation = anchorRotInverse * ik.references.head.rotation; + } + + /// + /// Calibrates body target to avatar pelvis position and position/rotation offsets in character root space. + /// + public static void CalibrateBody(VRIK ik, Transform pelvisTracker, Vector3 trackerPositionOffset, Vector3 trackerRotationOffset) + { + if (ik.solver.spine.pelvisTarget == null) ik.solver.spine.pelvisTarget = new GameObject("Pelvis IK Target").transform; + + ik.solver.spine.pelvisTarget.position = ik.references.pelvis.position + ik.references.root.rotation * trackerPositionOffset; + ik.solver.spine.pelvisTarget.rotation = ik.references.root.rotation * Quaternion.Euler(trackerRotationOffset); + ik.solver.spine.pelvisTarget.parent = pelvisTracker; + } + + /// + /// Calibrates hand IK targets to specified anchor position and rotation offsets independent of avatar bone orientations. + /// + public static void CalibrateHands(VRIK ik, Transform leftHandAnchor, Transform rightHandAnchor, Vector3 anchorPositionOffset, Vector3 anchorRotationOffset) + { + if (ik.solver.leftArm.target == null) ik.solver.leftArm.target = new GameObject("Left Hand IK Target").transform; + if (ik.solver.rightArm.target == null) ik.solver.rightArm.target = new GameObject("Right Hand IK Target").transform; + + CalibrateHand(ik, leftHandAnchor, anchorPositionOffset, anchorRotationOffset, true); + CalibrateHand(ik, rightHandAnchor, anchorPositionOffset, anchorRotationOffset, false); + } + + private static void CalibrateHand(VRIK ik, Transform anchor, Vector3 positionOffset, Vector3 rotationOffset, bool isLeft) + { + if (isLeft) + { + positionOffset.x = -positionOffset.x; + rotationOffset.y = -rotationOffset.y; + rotationOffset.z = -rotationOffset.z; + } + + var hand = isLeft ? ik.references.leftHand : ik.references.rightHand; + var forearm = isLeft ? ik.references.leftForearm : ik.references.rightForearm; + var target = isLeft ? ik.solver.leftArm.target : ik.solver.rightArm.target; + + Vector3 forward = isLeft ? ik.solver.leftArm.wristToPalmAxis : ik.solver.rightArm.wristToPalmAxis; + if (forward == Vector3.zero) forward = VRIKCalibrator.GuessWristToPalmAxis(hand, forearm); + + Vector3 up = isLeft ? ik.solver.leftArm.palmToThumbAxis : ik.solver.rightArm.palmToThumbAxis; + if (up == Vector3.zero) up = VRIKCalibrator.GuessPalmToThumbAxis(hand, forearm); + + Quaternion handSpace = Quaternion.LookRotation(forward, up); + Vector3 anchorPos = hand.position + hand.rotation * handSpace * positionOffset; + Quaternion anchorRot = hand.rotation * handSpace * Quaternion.Euler(rotationOffset); + Quaternion anchorRotInverse = Quaternion.Inverse(anchorRot); + + target.parent = anchor; + target.localPosition = anchorRotInverse * (hand.position - anchorPos); + target.localRotation = anchorRotInverse * hand.rotation; + } + + public static Vector3 GuessWristToPalmAxis(Transform hand, Transform forearm) + { + Vector3 toForearm = forearm.position - hand.position; + Vector3 axis = AxisTools.ToVector3(AxisTools.GetAxisToDirection(hand, toForearm)); + if (Vector3.Dot(toForearm, hand.rotation * axis) > 0f) axis = -axis; + return axis; + } + + public static Vector3 GuessPalmToThumbAxis(Transform hand, Transform forearm) + { + if (hand.childCount == 0) + { + Debug.LogWarning("Hand " + hand.name + " does not have any fingers, VRIK can not guess the hand bone's orientation. Please assign 'Wrist To Palm Axis' and 'Palm To Thumb Axis' manually for both arms in VRIK settings.", hand); + return Vector3.zero; + } + + float closestSqrMag = Mathf.Infinity; + int thumbIndex = 0; + + for (int i = 0; i < hand.childCount; i++) + { + float sqrMag = Vector3.SqrMagnitude(hand.GetChild(i).position - hand.position); + if (sqrMag < closestSqrMag) + { + closestSqrMag = sqrMag; + thumbIndex = i; + } + } + + Vector3 handNormal = Vector3.Cross(hand.position - forearm.position, hand.GetChild(thumbIndex).position - hand.position); + Vector3 toThumb = Vector3.Cross(handNormal, hand.position - forearm.position); + Vector3 axis = AxisTools.ToVector3(AxisTools.GetAxisToDirection(hand, toThumb)); + if (Vector3.Dot(toThumb, hand.rotation * axis) < 0f) axis = -axis; + return axis; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs.meta new file mode 100644 index 00000000..3ea35173 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKCalibrator.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: a19b811591057074d98d5ab94aaf496a +timeCreated: 1499778189 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs new file mode 100644 index 00000000..495e2bb6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs @@ -0,0 +1,46 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.FinalIK +{ + + /// + /// Simple VRIK LOD level controller based on renderer.isVisible and camera distance. + /// + public class VRIKLODController : MonoBehaviour + { + + public Renderer LODRenderer; + public float LODDistance = 15f; + public bool allowCulled = true; + + private VRIK ik; + + void Start() + { + ik = GetComponent(); + } + + void Update() + { + ik.solver.LOD = GetLODLevel(); + } + + // Setting LOD level to 1 saves approximately 20% of solving time. LOD level 2 means IK is culled, with only root position and rotation updated if locomotion enabled. + private int GetLODLevel() + { + if (allowCulled) + { + if (LODRenderer == null) return 0; + if (!LODRenderer.isVisible) return 2; + } + + // Set LOD to 1 if too far from camera + float sqrMag = (ik.transform.position - Camera.main.transform.position).sqrMagnitude; + if (sqrMag > LODDistance * LODDistance) return 1; + + return 0; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs.meta new file mode 100644 index 00000000..6c56eff2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKLODController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 1158802e47cf684439400e5c8e03cba9 +timeCreated: 1549982641 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKRootController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/Tools/VRIKRootController.cs new file mode 100644 index 00000000..27cadbbb --- /dev/null +++ b/FactoryNumeric/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(); + 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; + 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Sometimes + those objects have a lot of swinging motion in the animation though, like swinging + a sword for example, and it is not good to use AimIK to keep the sword oriented + towards a certain position during that swing. \nIt would keep the sword orientation + fixed by bending the rest of the spine hierarchy and that would interfere with + the animation in an unnatural way. \n\nIt is still possible to use AimIK to redirect + swinging animations like swordplay or punching. 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AimPoser.cs on the + "Aim Poser" GameObject. The names of the poses must match with the parameters + set in the animator controller. + + + Direct blend trees are used to work around Mecanim''s cross-fading issues (won''t + cross-fade back to a state it is still cross-fading from, ignoring the call) + + + AimIK works on top of that to correct the static poses to always keep the gun + aimed at the target. All AimIK ever does is rotating the spine hierarchy. + + + LookAtIK is also used for rotating the head to face the target. + + + SimpleAimingSystemMecanim.cs on "Dummy Legacy" in resposible for cross-fading + between the aim poses and updating the IK target positions.' +--- !u!4 &158524493 +Transform: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 0} + m_PrefabInternal: {fileID: 0} + m_GameObject: {fileID: 158524491} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: -0.32265368, y: 1.5836605, z: 0.343359} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 0} + m_RootOrder: 0 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!4 &189356423 +Transform: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 400028, guid: 7a30e2e74b2c24169a1b8eb71cf56878, type: 3} + m_PrefabInternal: {fileID: 2074133477} + m_GameObject: {fileID: 636187469} + m_LocalRotation: {x: -0.7071068, y: 0.000000038123602, z: -0.00000006117263, w: 0.70710677} + m_LocalPosition: {x: -0.00041241458, y: 0.06287573, z: -0.11712145} + m_LocalScale: {x: 1, y: 1, z: 1.0000001} + m_Children: + - 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Tweak this value to adjust the aiming.")] public Vector3 animatedAimDirection = Vector3.forward; + + void LateUpdate () { + ik.solver.axis = ik.solver.transform.InverseTransformVector(ik.transform.rotation * animatedAimDirection); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/AimSwing.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/AimSwing.cs.meta new file mode 100644 index 00000000..27f4afd2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/AimSwing.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 8ccef35d59367884b8f5847c819438b4 +timeCreated: 1494334657 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs new file mode 100644 index 00000000..cf883b1c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs @@ -0,0 +1,49 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + // Using LimbIK on the left arm to put the left hand back to where it was relative to the right hand before solving AimIK on the spine and right arm bones. + public class SecondHandOnGun : MonoBehaviour + { + public AimIK aim; + public LimbIK leftArmIK; + public Transform leftHand, rightHand; + public GrounderFBBIK grounder; + + public Vector3 leftHandPositionOffset; + public Vector3 leftHandRotationOffset; + + private Vector3 leftHandPosRelToRight; + private Quaternion leftHandRotRelToRight; + + void Start() + { + // Disable the IK components to take control over the updating of their solvers + aim.enabled = false; + leftArmIK.enabled = false; + if (grounder != null) grounder.ik.enabled = false; + } + + void LateUpdate() + { + // Store the position and rotation of the left hand relative to the right as animated + leftHandPosRelToRight = rightHand.InverseTransformPoint(leftHand.position); + leftHandRotRelToRight = Quaternion.Inverse(rightHand.rotation) * leftHand.rotation; + + // Update FBBIK for grounding + if (grounder != null) grounder.ik.solver.Update(); + + // Update AimIK + aim.solver.Update(); + + // AimIK has moved the right arm, so the hand hand needs to be put back to how it was relative to the right hand (the inverse of the above) + leftArmIK.solver.IKPosition = rightHand.TransformPoint(leftHandPosRelToRight + leftHandPositionOffset); + leftArmIK.solver.IKRotation = rightHand.rotation * Quaternion.Euler(leftHandRotationOffset) * leftHandRotRelToRight; + + // Update Left arm IK (we don't want another FBBIK pass, LimbIK is much faster) + leftArmIK.solver.Update(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs.meta new file mode 100644 index 00000000..c6175bb0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SecondHandOnGun.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 197630ec716e8f54d8547033d33eb8ad +timeCreated: 1535372901 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SimpleAimingSystem.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SimpleAimingSystem.cs new file mode 100644 index 00000000..d90ef460 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Aim IK/Scripts/SimpleAimingSystem.cs @@ -0,0 +1,93 @@ +using RootMotion.Demos; +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + // Demonstrating 360-degree aiming system built with 6 static aiming poses and AimIK. + public class SimpleAimingSystem : MonoBehaviour { + + [Tooltip("AimPoser is a tool that returns an animation name based on direction.")] + public AimPoser aimPoser; + + [Tooltip("Reference to the AimIK component.")] + public AimIK aim; + + [Tooltip("Reference to the LookAt component (only used for the head in this instance).")] + public LookAtIK lookAt; + + [Tooltip("Reference to the Animator component.")] + public Animator animator; + + [Tooltip("Time of cross-fading from pose to pose.")] + public float crossfadeTime = 0.2f; + + [Tooltip("Will keep the aim target at a distance.")] + public float minAimDistance = 0.5f; + + private AimPoser.Pose aimPose, lastPose; + + void Start() { + // Disable IK components to manage their updating order + aim.enabled = false; + lookAt.enabled = false; + } + + // LateUpdate is called once per frame + void LateUpdate () { + // Switch aim poses (Legacy animation) + Pose(); + + // Update IK solvers + aim.solver.Update(); + if (lookAt != null) lookAt.solver.Update(); + } + + private void Pose() { + // Make sure aiming target is not too close (might make the solver instable when the target is closer to the first bone than the last bone is). + LimitAimTarget(); + + // Get the aiming direction + Vector3 direction = (aim.solver.IKPosition - aim.solver.bones[0].transform.position); + // Getting the direction relative to the root transform + Vector3 localDirection = transform.InverseTransformDirection(direction); + + // Get the Pose from AimPoser + aimPose = aimPoser.GetPose(localDirection); + + // If the Pose has changed + if (aimPose != lastPose) { + // Increase the angle buffer of the pose so we won't switch back too soon if the direction changes a bit + aimPoser.SetPoseActive(aimPose); + + // Store the pose so we know if it changes + lastPose = aimPose; + } + + // Direct blending + foreach (AimPoser.Pose pose in aimPoser.poses) { + if (pose == aimPose) { + DirectCrossFade(pose.name, 1f); + } else { + DirectCrossFade(pose.name, 0f); + } + } + } + + // Make sure aiming target is not too close (might make the solver instable when the target is closer to the first bone than the last bone is). + void LimitAimTarget() { + Vector3 aimFrom = aim.solver.bones[0].transform.position; + Vector3 direction = (aim.solver.IKPosition - aimFrom); + direction = direction.normalized * Mathf.Max(direction.magnitude, minAimDistance); + + aim.solver.IKPosition = aimFrom + direction; + } + + // Uses Mecanim's Direct blend trees for cross-fading + private void DirectCrossFade(string state, float target) { + float f = Mathf.MoveTowards(animator.GetFloat(state), target, Time.deltaTime * (1f / crossfadeTime)); + animator.SetFloat(state, f); + } + } +} diff --git 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+1,54 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Raycasting to the ground to redirect upper-body animation based on ground topography. + /// + public class TerrainOffset : MonoBehaviour { + + public AimIK aimIK; // Reference to the AimIK component + public Vector3 raycastOffset = new Vector3(0f, 2f, 1.5f); // Offset from the character, in local space, to raycast from + public LayerMask raycastLayers; // The layers we want to raycast at + public float min = -2f, max = 2f; // Min and max for the offset + public float lerpSpeed = 10f; // The speed of lerping the IKPosition to make things nice and smooth + + private RaycastHit hit; + private Vector3 offset; + + void LateUpdate() { + // Find the raycastOffset in world space + Vector3 worldOffset = transform.rotation * raycastOffset; + + // Find how much higher is the ground at worldOffset relative to the character position. + Vector3 realOffset = GetGroundHeightOffset(transform.position + worldOffset); + + // Smoothly lerp the offset value so it would not jump on sudden raycast changes + offset = Vector3.Lerp(offset, realOffset, Time.deltaTime * lerpSpeed); + + // The default offset point at the character's height + Vector3 zeroOffsetPosition = transform.position + new Vector3(worldOffset.x, 0f, worldOffset.z); + + // Make the Aim Transform look at the default offset point (So when we are on planar ground there will be nothing for Aim IK to do) + aimIK.solver.transform.LookAt(zeroOffsetPosition); + + // Make Aim IK bend the spine by the offset. + aimIK.solver.IKPosition = zeroOffsetPosition + offset; + } + + private Vector3 GetGroundHeightOffset(Vector3 worldPosition) { + // Visualize the raycast + Debug.DrawRay(worldPosition, Vector3.down * raycastOffset.y * 2f, Color.green); + + // Raycast to find how much higher is the ground at worldPosition relative to the character. + if (Physics.Raycast(worldPosition, Vector3.down, out 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mode 100644 index 00000000..427de34c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Biped IK/Scripts/BipedIKvsAnimatorIK.cs @@ -0,0 +1,84 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demo script that shows how BipedIK performs compared to the built-in Animator IK + /// + public class BipedIKvsAnimatorIK: MonoBehaviour { + + [LargeHeader("References")] + public Animator animator; + public BipedIK bipedIK; + + // Look At + [LargeHeader("Look At")] + public Transform lookAtTargetBiped; + public Transform lookAtTargetAnimator; + [Range(0f, 1f)] public float lookAtWeight = 1f; + [Range(0f, 1f)] public float lookAtBodyWeight = 1f; + [Range(0f, 1f)] public float lookAtHeadWeight = 1f; + [Range(0f, 1f)] public float lookAtEyesWeight = 1f; + [Range(0f, 1f)] public float lookAtClampWeight = 0.5f; + [Range(0f, 1f)] public float lookAtClampWeightHead = 0.5f; + [Range(0f, 1f)] public float lookAtClampWeightEyes = 0.5f; + + // Foot + [LargeHeader("Foot")] + public Transform footTargetBiped; + public Transform footTargetAnimator; + [Range(0f, 1f)] public float footPositionWeight = 0f; + [Range(0f, 1f)] public float footRotationWeight = 0f; + + // Hand + [LargeHeader("Hand")] + public Transform handTargetBiped; + public Transform handTargetAnimator; + [Range(0f, 1f)] public float handPositionWeight = 0f; + [Range(0f, 1f)] public float handRotationWeight = 0f; + + void OnAnimatorIK(int layer) { + animator.transform.rotation = bipedIK.transform.rotation; + Vector3 offset = animator.transform.position - bipedIK.transform.position; + + // Look At + lookAtTargetAnimator.position = lookAtTargetBiped.position + offset; + + bipedIK.SetLookAtPosition(lookAtTargetBiped.position); + bipedIK.SetLookAtWeight(lookAtWeight, lookAtBodyWeight, lookAtHeadWeight, lookAtEyesWeight, lookAtClampWeight, lookAtClampWeightHead, lookAtClampWeightEyes); + + animator.SetLookAtPosition(lookAtTargetAnimator.position); + animator.SetLookAtWeight(lookAtWeight, lookAtBodyWeight, lookAtHeadWeight, lookAtEyesWeight, lookAtClampWeight); + + // Foot + footTargetAnimator.position = footTargetBiped.position + offset; + footTargetAnimator.rotation = footTargetBiped.rotation; + + bipedIK.SetIKPosition(AvatarIKGoal.LeftFoot, footTargetBiped.position); + bipedIK.SetIKRotation(AvatarIKGoal.LeftFoot, footTargetBiped.rotation); + bipedIK.SetIKPositionWeight(AvatarIKGoal.LeftFoot, footPositionWeight); + bipedIK.SetIKRotationWeight(AvatarIKGoal.LeftFoot, footRotationWeight); + + animator.SetIKPosition(AvatarIKGoal.LeftFoot, footTargetAnimator.position); + animator.SetIKRotation(AvatarIKGoal.LeftFoot, footTargetAnimator.rotation); + animator.SetIKPositionWeight(AvatarIKGoal.LeftFoot, footPositionWeight); + animator.SetIKRotationWeight(AvatarIKGoal.LeftFoot, footRotationWeight); + + // Hand + handTargetAnimator.position = handTargetBiped.position + offset; + handTargetAnimator.rotation = handTargetBiped.rotation; + + bipedIK.SetIKPosition(AvatarIKGoal.LeftHand, handTargetBiped.position); + bipedIK.SetIKRotation(AvatarIKGoal.LeftHand, handTargetBiped.rotation); + bipedIK.SetIKPositionWeight(AvatarIKGoal.LeftHand, handPositionWeight); + bipedIK.SetIKRotationWeight(AvatarIKGoal.LeftHand, handRotationWeight); + + animator.SetIKPosition(AvatarIKGoal.LeftHand, handTargetAnimator.position); + animator.SetIKRotation(AvatarIKGoal.LeftHand, handTargetAnimator.rotation); + animator.SetIKPositionWeight(AvatarIKGoal.LeftHand, handPositionWeight); + animator.SetIKRotationWeight(AvatarIKGoal.LeftHand, handRotationWeight); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Biped IK/Scripts/BipedIKvsAnimatorIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Biped IK/Scripts/BipedIKvsAnimatorIK.cs.meta new file mode 100644 index 00000000..359b944c --- /dev/null +++ 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MechSpider : MonoBehaviour { + + public LayerMask raycastLayers; // The ground layers + public float scale = 1f; // For resizing the values when the mech is resized + public Transform body; // The body transform, the root of the legs + public MechSpiderLeg[] legs; // All the legs of this spider + public float legRotationWeight = 1f; // The weight of rotating the body to each leg + public float rootPositionSpeed = 5f; // The speed of positioning the root + public float rootRotationSpeed = 30f; // The slerp speed of rotating the root to leg heights + public float breatheSpeed = 2f; // Speed of the breathing cycle + public float breatheMagnitude = 0.2f; // Magnitude of breathing + public float height = 3.5f; // Height from ground + public float minHeight = 2f; // The minimum height from ground + public float raycastHeight = 10f; // The height of ray origin + public float raycastDistance = 5f; // The distance of rays (total ray length = raycastHeight + raycastDistance) + + public Vector3 velocity { get; private set; } + + private Vector3 lastPosition; + private Vector3 defaultBodyLocalPosition; + private float sine; + private RaycastHit rootHit; + + private void Start() + { + lastPosition = transform.position; + } + + void Update() { + velocity = (transform.position - lastPosition) / Time.deltaTime; + lastPosition = transform.position; + + // Find the normal of the plane defined by leg positions + Vector3 legsPlaneNormal = GetLegsPlaneNormal(); + + // Rotating the root + Quaternion fromTo = Quaternion.FromToRotation(transform.up, legsPlaneNormal); + transform.rotation = Quaternion.Slerp(transform.rotation, fromTo * transform.rotation, Time.deltaTime * rootRotationSpeed); + + // Positioning the root + Vector3 legCentroid = GetLegCentroid(); + Vector3 heightOffset = Vector3.Project((legCentroid + transform.up * height * scale) - transform.position, transform.up); + transform.position += heightOffset * Time.deltaTime * (rootPositionSpeed * scale); + + if (Physics.Raycast(transform.position + transform.up * raycastHeight * scale, -transform.up, out rootHit, (raycastHeight * scale) + (raycastDistance * scale), raycastLayers)) { + rootHit.distance -= (raycastHeight * scale) + (minHeight * scale); + + if (rootHit.distance < 0f) { + Vector3 targetPosition = transform.position - transform.up * rootHit.distance; + transform.position = Vector3.Lerp(transform.position, targetPosition, Time.deltaTime * rootPositionSpeed * scale); + } + } + + // Update Breathing + sine += Time.deltaTime * breatheSpeed; + if (sine >= Mathf.PI * 2f) sine -= Mathf.PI * 2f; + float br = Mathf.Sin(sine) * breatheMagnitude * scale; + + // Apply breathing + Vector3 breatheOffset = transform.up * br; + body.transform.position = transform.position + breatheOffset; + } + + // Calculate the normal of the plane defined by leg positions, so we know how to rotate the body + private Vector3 GetLegCentroid() { + Vector3 position = Vector3.zero; + + float footWeight = 1f / (float)legs.Length; + + // Go through all the legs, rotate the normal by its offset + for (int i = 0; i < legs.Length; i++) { + position += legs[i].position * footWeight; + } + + return position; + } + + // Calculate the normal of the plane defined by leg positions, so we know how to rotate the body + private Vector3 GetLegsPlaneNormal() { + Vector3 normal = transform.up; + + if (legRotationWeight <= 0f) return normal; + + float legWeight = 1f / Mathf.Lerp(legs.Length, 1f, legRotationWeight); + + // Go through all the legs, rotate the normal by its offset + for (int i = 0; i < legs.Length; i++) { + // Direction from the root to the leg + Vector3 legDirection = legs[i].position - (transform.position - transform.up * height * scale); + + // Find the tangent to transform.up + Vector3 legNormal = transform.up; + Vector3 legTangent = legDirection; + Vector3.OrthoNormalize(ref legNormal, ref legTangent); + + // Find the rotation offset from the tangent to the direction + Quaternion fromTo = Quaternion.FromToRotation(legTangent, legDirection); + fromTo = Quaternion.Lerp(Quaternion.identity, fromTo, legWeight); + + // Rotate the normal + normal = fromTo * normal; + } + + return normal; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpider.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpider.cs.meta new file mode 100644 index 00000000..29ddbf43 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpider.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5e38d8e43dbfd42c2bbdb924c89c44d0 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs new file mode 100644 index 00000000..36a708af --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs @@ -0,0 +1,37 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Controller for the Mech spider. + /// + public class MechSpiderController: MonoBehaviour { + + public MechSpider mechSpider; // The mech spider + public Transform cameraTransform; // The camera + public float speed = 6f; // Horizontal speed of the spider + public float turnSpeed = 30f; // The speed of turning the spider to align with the camera + + public Vector3 inputVector { + get { + return new Vector3(Input.GetAxis("Horizontal"), 0, Input.GetAxis("Vertical")); + } + } + + void Update() { + // Read the input + Vector3 cameraForward = cameraTransform.forward; + Vector3 camNormal = transform.up; + Vector3.OrthoNormalize(ref camNormal, ref cameraForward); + + // Moving the spider + Quaternion cameraLookRotation = Quaternion.LookRotation(cameraForward, transform.up); + transform.Translate(cameraLookRotation * inputVector.normalized * Time.deltaTime * speed * mechSpider.scale, Space.World); + + // Rotating the spider to camera forward + transform.rotation = Quaternion.RotateTowards(transform.rotation, cameraLookRotation, Time.deltaTime * turnSpeed); + } + } + +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs.meta new file mode 100644 index 00000000..6abc1a68 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderController.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: dfca8416545ee44e6b71f34d93313b69 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + 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Controls stepping and positioning the IK target + /// + public class MechSpiderLeg : MonoBehaviour { + + public MechSpider mechSpider; // Reference to the target + public MechSpiderLeg unSync; // One of the other legs that we dont want to be completely in sync with, that is stepping at the same time + public Vector3 offset; // Offset from the default position + public float minDelay = 0.2f, maxOffset = 1.0f, stepSpeed = 5.0f, footHeight = 0.15f, velocityPrediction = 0.2f, raycastFocus = 0.1f; // Parameters for stepping + public AnimationCurve yOffset; + public Transform foot; + public Vector3 footUpAxis; + public float footRotationSpeed = 10f; + + public ParticleSystem sand; // FX for sand + + private IK ik; + private float stepProgress = 1f, lastStepTime; + private Vector3 defaultPosition; + private RaycastHit hit = new RaycastHit(); + private Quaternion lastFootLocalRotation; + private Vector3 smoothHitNormal = Vector3.up; + private Vector3 lastStepPosition; + + // Is the leg stepping? + public bool isStepping { + get { + return stepProgress < 1f; + } + } + + // Gets and sets the IK position for this leg + public Vector3 position { + get { + return ik.GetIKSolver().GetIKPosition(); + } + set { + ik.GetIKSolver().SetIKPosition(value); + } + } + + void Awake() + { + // Find the ik component + ik = GetComponent(); + + if (foot != null) + { + if (footUpAxis == Vector3.zero) footUpAxis = Quaternion.Inverse(foot.rotation) * Vector3.up; + lastFootLocalRotation = foot.localRotation; + ik.GetIKSolver().OnPostUpdate += AfterIK; + } + } + + private void AfterIK() + { + if (foot == null) return; + foot.localRotation = lastFootLocalRotation; + + smoothHitNormal = Vector3.Slerp(smoothHitNormal, hit.normal, Time.deltaTime * footRotationSpeed); + Quaternion f = Quaternion.FromToRotation(foot.rotation * footUpAxis, smoothHitNormal); + foot.rotation = f * foot.rotation; + } + + void Start() { + // Workaround for Unity Win Store/Phone serialization bug + stepProgress = 1f; + + hit = new RaycastHit(); + + var points = ik.GetIKSolver().GetPoints(); + position = points[points.Length - 1].transform.position; + lastStepPosition = position; + + hit.point = position; + + // Store the default rest position of the leg + defaultPosition = mechSpider.transform.InverseTransformPoint(position + offset * mechSpider.scale); + + StartCoroutine(Step(position, position)); + } + + // Find the relaxed grounded positon of the leg relative to the body in world space. + private Vector3 GetStepTarget(out bool stepFound, float focus, float distance) { + stepFound = false; + + // place hit.point to the default position relative to the body + Vector3 stepTarget = mechSpider.transform.TransformPoint(defaultPosition); + //stepTarget += (hit.point - position) * velocityPrediction; + stepTarget += mechSpider.velocity * velocityPrediction; + + Vector3 up = mechSpider.transform.up; + + // Focus the ray directions towards the spider body + Vector3 toBody = mechSpider.body.position - position; + Vector3 axis = Vector3.Cross(up, toBody); + up = Quaternion.AngleAxis(focus, axis) * up; + + // Raycast to ground the relaxed position + if (Physics.Raycast(stepTarget + up * mechSpider.raycastHeight * mechSpider.scale, -up, out hit, mechSpider.raycastHeight * mechSpider.scale + distance, mechSpider.raycastLayers)) stepFound = true; + + //return hit.point + mechSpider.transform.up * footHeight * mechSpider.scale; + return hit.point + hit.normal * footHeight * mechSpider.scale; + } + + private void UpdatePosition(float distance) + { + Vector3 up = mechSpider.transform.up; + + if (Physics.Raycast(lastStepPosition + up * mechSpider.raycastHeight * mechSpider.scale, -up, out hit, mechSpider.raycastHeight * mechSpider.scale + distance, mechSpider.raycastLayers)) + { + position = hit.point + hit.normal * footHeight * mechSpider.scale; + } + } + + void Update () { + UpdatePosition(mechSpider.raycastDistance * mechSpider.scale); + + // if already stepping, do nothing + if (isStepping) return; + + // Minimum delay before stepping again + if (Time.time < lastStepTime + minDelay) return; + + // If the unSync leg is stepping, do nothing + if (unSync != null) { + if (unSync.isStepping) return; + } + + // Find the ideal relaxed position for the leg relative to the body + bool stepFound = false; + Vector3 idealPosition = GetStepTarget(out stepFound, raycastFocus, mechSpider.raycastDistance * mechSpider.scale); + if (!stepFound) idealPosition = GetStepTarget(out stepFound, -raycastFocus, mechSpider.raycastDistance * 3f * mechSpider.scale); // Try again with inverted focus + if (!stepFound) return; + + // If distance to that ideal position is less than the threshold, do nothing + if (Vector3.Distance(position, idealPosition) < maxOffset * mechSpider.scale * UnityEngine.Random.Range(0.9f, 1.2f)) return; + + // Need to step closer to the ideal position + StopAllCoroutines(); + StartCoroutine(Step(position, idealPosition)); + } + + // Stepping co-routine + private IEnumerator Step(Vector3 stepStartPosition, Vector3 targetPosition) { + stepProgress = 0f; + + // Moving the IK position + while (stepProgress < 1) { + stepProgress += Time.deltaTime * stepSpeed; + + position = Vector3.Lerp(stepStartPosition, targetPosition, stepProgress); + position += mechSpider.transform.up * yOffset.Evaluate(stepProgress) * mechSpider.scale; + lastStepPosition = position; + + yield return null; + } + + position = targetPosition; + lastStepPosition = position; + + // Emit sand + if (sand != null) { + sand.transform.position = position - mechSpider.transform.up * footHeight * mechSpider.scale; + sand.Emit(20); + } + + lastStepTime = Time.time; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderLeg.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderLeg.cs.meta new file mode 100644 index 00000000..b4c7e203 --- /dev/null +++ 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Start() { + particles = (ParticleSystem)GetComponent(typeof(ParticleSystem)); + } + + void Update() { + // Smoke + float inputMag = mechSpiderController.inputVector.magnitude; + + float emissionRate = Mathf.Clamp(inputMag * 50, 30, 50); + + #if (UNITY_5_3 || UNITY_5_4) + var emission = particles.emission; + emission.rate = new ParticleSystem.MinMaxCurve(emissionRate); + particles.startColor = new Color (particles.startColor.r, particles.startColor.g, particles.startColor.b, Mathf.Clamp(inputMag, 0.4f, 1f)); + #else + var emission = particles.emission; + emission.rateOverTime = new ParticleSystem.MinMaxCurve(emissionRate); + + var main = particles.main; + main.startColor = new Color (particles.main.startColor.color.r, particles.main.startColor.color.g, particles.main.startColor.color.b, Mathf.Clamp(inputMag, 0.4f, 1f)); + #endif + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/CCD IK/Scripts/MechSpiderParticles.cs.meta 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It means that it works by adding + to the positionOffset value of the effectors each frame. Effector position and + positionWeight override positionOffset so you can use BodyTilt, and still be + free to pin the hands or use the Interaction System whenever you need. Another + advantage of that design is that you are also able to use multiple offset modifiers + simultaneously, the position offsets will work additively. + + + The offset poses + for tilting left and right can be found on "OffsetPose Tilt Left" and "OffsetPose + Tilt Right". They are easily modified in play mode - you can copy their values, + stop play mode and paste back to the component in the Editor.' +--- !u!4 &813926272 +Transform: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 813926270} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: -0.32265368, y: 1.5836605, z: 0.343359} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 0} + m_RootOrder: 0 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!4 &820671188 stripped +Transform: + m_CorrespondingSourceObject: {fileID: 400002, guid: 959d14bf134f54a6e993fe6ca6e063c0, + type: 3} + m_PrefabInstance: {fileID: 2144877864} + m_PrefabAsset: {fileID: 0} +--- !u!4 &828730365 stripped +Transform: + m_CorrespondingSourceObject: {fileID: 400040, guid: 959d14bf134f54a6e993fe6ca6e063c0, + type: 3} + m_PrefabInstance: {fileID: 2144877864} + m_PrefabAsset: {fileID: 0} +--- 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FBBIK resets them to + Vector3.zero each time it is finished updating. + + That means you should write ik.solver.leftHandEffector.positionOffset += something, + instead of =. + + That enables for a great variety of additive procedural animation effects that + can be even combined. See Inertia, Aplifier, BodyTilt, Recoil, HitReaction... + + + Effector.position as the final word though when effector.positionWeight > 0. 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It requires a FullBodyBipedIK + character and consists of 4 main components: InteractionSystem, InteractionObject, + InteractionTarget and InteractionTrigger. + + + * The InteractionSystem component should be added to the character. It is the + main driver for the interactions. + + + * InteractionObjects define the interaction procedure, it''s length, events and + look. + + + * InteractionTargets define the target pose for the interacting body parts. + + + * InteractionTrigger components define valid ranges for the character and/or it''s + camera for triggering the interactions. + + + Right-click on any FinalIK component header and select "User Manual" or "Script + Reference" for more info.' +--- !u!4 &60583834 +Transform: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 0} + m_PrefabInternal: {fileID: 0} + m_GameObject: {fileID: 60583832} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: -0.32265368, y: 1.5836605, z: 0.343359} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 0} + m_RootOrder: 0 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!1 &61336667 +GameObject: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 100012, guid: 959d14bf134f54a6e993fe6ca6e063c0, type: 3} + m_PrefabInternal: {fileID: 6850879} + serializedVersion: 5 + m_Component: + - 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Another advantage of that design is that you are also able to use multiple + offset modifiers simultaneously, the position offsets will work additively. + + + The recoil procedure is defined in the inspector of Recoil.cs, the procedure is + triggered by Recoil.Fire(float magnitude); + + Also see RecoilTest.cs.' +--- !u!4 &1403067290 +Transform: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 0} + m_PrefabInternal: {fileID: 0} + m_GameObject: {fileID: 1403067288} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: -0.32265368, y: 1.5836605, z: 0.343359} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 0} + m_RootOrder: 0 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!1 &1434939785 +GameObject: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 100012, guid: 959d14bf134f54a6e993fe6ca6e063c0, type: 3} + m_PrefabInternal: {fileID: 0} + serializedVersion: 5 + m_Component: + - component: {fileID: 1434939786} + m_Layer: 0 + m_Name: Bip002 L Hand + m_TagString: Untagged + m_Icon: {fileID: 0} + m_NavMeshLayer: 0 + m_StaticEditorFlags: 0 + m_IsActive: 1 +--- !u!4 &1434939786 +Transform: + m_ObjectHideFlags: 0 + m_PrefabParentObject: {fileID: 400012, guid: 959d14bf134f54a6e993fe6ca6e063c0, type: 3} + m_PrefabInternal: {fileID: 0} + m_GameObject: {fileID: 1434939785} + m_LocalRotation: {x: -0.7212754, y: -0.08105717, z: 0.07682164, w: 0.6835861} + m_LocalPosition: {x: -0.2430326, y: -0.00000003051758, z: 0} + m_LocalScale: {x: 1, y: 1, z: 1.0000001} + m_Children: + - 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This should be in character space so keep this Transform parented to the root of the character.")] + public Transform warpFrom; + [Tooltip("World space point to warp to.")] + public Transform warpTo; + [Tooltip("Which FBBIK effector to use?")] + public FullBodyBipedEffector effector; + } + + /// + /// Using effector.positionOffset or effector.position with effector.positionWeight? + /// + [System.Serializable] + public enum EffectorMode { + PositionOffset, + Position, + } + + [Tooltip("Reference to the Animator component to use")] + public Animator animator; + [Tooltip("Using effector.positionOffset or effector.position with effector.positionWeight? " + + "The former will enable you to use effector.position for other things, the latter will weigh in the effectors, hence using Reach and Pull in the process.")] + public EffectorMode effectorMode; + + [Space(10)] + [Tooltip("The array of warps, can have multiple simultaneous warps.")] + public Warp[] warps; + + private EffectorMode lastMode; + + protected override void Start() { + base.Start(); + + lastMode = effectorMode; + } + + /// + /// Gets the current warping weight of the warp at the specified index. + /// + public float GetWarpWeight(int warpIndex) { + if (warpIndex < 0) { + Debug.LogError("Warp index out of range."); + return 0f; + } + if (warpIndex >= warps.Length) { + Debug.LogError("Warp index out of range."); + return 0f; + } + if (animator == null) { + Debug.LogError("Animator unassigned in AnimationWarping"); + return 0f; + } + + // Get the animator state info + AnimatorStateInfo info = animator.GetCurrentAnimatorStateInfo(warps[warpIndex].animationLayer); + + // If not currently playing the animation state of the warp, return + if (!info.IsName(warps[warpIndex].animationState)) return 0f; + + // Evaluate the weight of the warp by the current normalized time of the state + return warps[warpIndex].weightCurve.Evaluate(info.normalizedTime - (int)info.normalizedTime); + } + + // Called each time before FBBIK solves + protected override void OnModifyOffset() { + // Go through all the warps... + for (int i = 0; i < warps.Length; i++) { + float warpWeight = GetWarpWeight(i); + + // Get the offset form warpFrom to warpTo + Vector3 offset = warps[i].warpTo.position - warps[i].warpFrom.position; + + // Add that offset to the effector (using positionOffset additively, because it will be reset to Vector3.zero by FBBIK after each update) + switch(effectorMode) { + case EffectorMode.PositionOffset: + ik.solver.GetEffector(warps[i].effector).positionOffset += offset * warpWeight * weight; + break; + case EffectorMode.Position: + ik.solver.GetEffector(warps[i].effector).position = ik.solver.GetEffector(warps[i].effector).bone.position + offset; + ik.solver.GetEffector(warps[i].effector).positionWeight = weight * warpWeight; + break; + } + } + + // Switching modes safely, weighing out effector positionWeights + if (lastMode == EffectorMode.Position && effectorMode == EffectorMode.PositionOffset) { + foreach (Warp warp in warps) { + ik.solver.GetEffector(warp.effector).positionWeight = 0f; + } + } + + lastMode = effectorMode; + } + + // Set effector positionWeights to 0 if in "Position" effector mode + void OnDisable() { + if (effectorMode != EffectorMode.Position) return; + + foreach (Warp warp in warps) { + ik.solver.GetEffector(warp.effector).positionWeight = 0f; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimationWarping.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimationWarping.cs.meta new file mode 100644 index 00000000..77efa920 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimationWarping.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 07341efad24fc425b88a57536e3a568c +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs new file mode 100644 index 00000000..04b8db22 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs @@ -0,0 +1,63 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Basic Mecanim Animator controller for 3rd person view. + /// + public class AnimatorController3rdPerson : MonoBehaviour { + + public float rotateSpeed = 7f; // Speed of rotating the character + public float blendSpeed = 10f; // Animation blending speed + public float maxAngle = 90f; // Max angular offset from camera direction + public float moveSpeed = 1.5f; // The speed of moving the character with no root motion + public float rootMotionWeight; // Crossfading between procedural movement and root motion + + protected Animator animator; // The Animator + protected Vector3 moveBlend, moveInput, velocity; + + protected virtual void Start() { + animator = GetComponent(); + } + + // Moving the character + void OnAnimatorMove() { + velocity = Vector3.Lerp (velocity, transform.rotation * Vector3.ClampMagnitude(moveInput, 1f) * moveSpeed, Time.deltaTime * blendSpeed); + + // Crossfading between procedural movement and root motion. + transform.position += Vector3.Lerp(velocity * Time.deltaTime, animator.deltaPosition, rootMotionWeight); + } + + // Move the character + public virtual void Move(Vector3 moveInput, bool isMoving, Vector3 faceDirection, Vector3 aimTarget) { + // Store variables that we need in other methods + this.moveInput = moveInput; + + // Get the facing direction relative to the character rotation + Vector3 faceDirectionLocal = transform.InverseTransformDirection(faceDirection); + + // Get the angle between the facing direction and character forward + float angle = Mathf.Atan2(faceDirectionLocal.x, faceDirectionLocal.z) * Mathf.Rad2Deg; + + // Find the rotation + float rotation = angle * Time.deltaTime * rotateSpeed; + + // Clamp the rotation to maxAngle + if (angle > maxAngle) rotation = Mathf.Clamp(rotation, angle - maxAngle, rotation); + if (angle < -maxAngle) rotation = Mathf.Clamp(rotation, rotation, angle + maxAngle); + + // Rotate the character + transform.Rotate(Vector3.up, rotation); + + // Locomotion animation blending + moveBlend = Vector3.Lerp(moveBlend, moveInput, Time.deltaTime * blendSpeed); + + // Set Animator parameters + animator.SetFloat("X", moveBlend.x); + animator.SetFloat("Z", moveBlend.z); + animator.SetBool("IsMoving", isMoving); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs.meta new file mode 100644 index 00000000..b89c3844 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPerson.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 898bc8d3a77f74e0b8cd466413a4b20d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs new file mode 100644 index 00000000..0c8ce0c8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs @@ -0,0 +1,122 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + // Extends the default Animator controller for 3rd person view to add IK + public class AnimatorController3rdPersonIK: AnimatorController3rdPerson { + + [Range(0f, 1f)] public float headLookWeight = 1f; + public Vector3 gunHoldOffset; + public Vector3 leftHandOffset; + public Recoil recoil; + + // The IK components + private AimIK aim; + private FullBodyBipedIK ik; + + private Vector3 headLookAxis; + private Vector3 leftHandPosRelToRightHand; + private Quaternion leftHandRotRelToRightHand; + private Vector3 aimTarget; + private Quaternion rightHandRotation; + + protected override void Start() { + base.Start(); + + // Find the IK components + aim = GetComponent(); + ik = GetComponent(); + ik.solver.OnPreRead += OnPreRead; + + // Disable the IK components to manage their updating + aim.enabled = false; + ik.enabled = false; + + // Presuming head is rotated towards character forward at Start + headLookAxis = ik.references.head.InverseTransformVector(ik.references.root.forward); + + // Enable the upper-body aiming pose + animator.SetLayerWeight(1, 1f); + } + + public override void Move(Vector3 moveInput, bool isMoving, Vector3 faceDirection, Vector3 aimTarget) { + base.Move(moveInput, isMoving, faceDirection, aimTarget); + + // Snatch the aim target from the Move call, it will be used by AimIK (Move is called by CharacterController3rdPerson that controls the actual motion of the character) + this.aimTarget = aimTarget; + + // IK procedures, make sure this updates AFTER the camera is moved/rotated + // Sample something from the current pose of the character + Read(); + + // AimIK pass + AimIK(); + + // FBBIK pass - put the left hand back to where it was relative to the right hand before AimIK solved + FBBIK(); + + // AimIK pass + AimIK(); + + // Rotate the head to look at the aim target + HeadLookAt(aimTarget); + } + + private void Read() { + // Remember the position and rotation of the left hand relative to the right hand + leftHandPosRelToRightHand = ik.references.rightHand.InverseTransformPoint(ik.references.leftHand.position); + leftHandRotRelToRightHand = Quaternion.Inverse(ik.references.rightHand.rotation) * ik.references.leftHand.rotation; + } + + private void AimIK() { + // Set AimIK target position and update + aim.solver.IKPosition = aimTarget; + aim.solver.Update(); // Update AimIK + } + + // Positioning the left hand on the gun after aiming has finished + private void FBBIK() { + // Store the current rotation of the right hand + rightHandRotation = ik.references.rightHand.rotation; + + // Offsetting hands, you might need that to support multiple weapons with the same aiming pose + Vector3 rightHandOffset = ik.references.rightHand.rotation * gunHoldOffset; + ik.solver.rightHandEffector.positionOffset += rightHandOffset; + + if (recoil != null) recoil.SetHandRotations(rightHandRotation * leftHandRotRelToRightHand, rightHandRotation); + + // Update FBBIK + ik.solver.Update(); + + // Rotating the hand bones after IK has finished + if (recoil != null) { + ik.references.rightHand.rotation = recoil.rotationOffset * rightHandRotation; + ik.references.leftHand.rotation = recoil.rotationOffset * rightHandRotation * leftHandRotRelToRightHand; + } else { + ik.references.rightHand.rotation = rightHandRotation; + ik.references.leftHand.rotation = rightHandRotation * leftHandRotRelToRightHand; + } + } + + // Final calculations before FBBIK solves. Recoil has already solved by, so we can use its calculated offsets. + // Here we set the left hand position relative to the position and rotation of the right hand. + private void OnPreRead() { + Quaternion r = recoil != null? recoil.rotationOffset * rightHandRotation: rightHandRotation; + Vector3 leftHandTarget = ik.references.rightHand.position + ik.solver.rightHandEffector.positionOffset + r * leftHandPosRelToRightHand; + ik.solver.leftHandEffector.positionOffset += leftHandTarget - ik.references.leftHand.position - ik.solver.leftHandEffector.positionOffset + r * leftHandOffset; + } + + // Rotating the head to look at the target + private void HeadLookAt(Vector3 lookAtTarget) { + Quaternion headRotationTarget = Quaternion.FromToRotation(ik.references.head.rotation * headLookAxis, lookAtTarget - ik.references.head.position); + ik.references.head.rotation = Quaternion.Lerp(Quaternion.identity, headRotationTarget, headLookWeight) * ik.references.head.rotation; + } + + // Cleaning up the delegates + void OnDestroy() { + if (ik != null) ik.solver.OnPreRead -= OnPreRead; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs.meta new file mode 100644 index 00000000..3e89e48a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/AnimatorController3rdPersonIK.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 7cacab300efda4d8c8c72660683917b8 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs new file mode 100644 index 00000000..63f9a071 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs @@ -0,0 +1,43 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Contols animation for a third person person controller. + /// + public class CharacterAnimationThirdPersonIK: CharacterAnimationThirdPerson { + + private FullBodyBipedIK ik; + + protected override void Start() { + base.Start(); + + ik = GetComponent(); + } + + protected override void LateUpdate() { + base.LateUpdate(); + + // Rotate the upper body a little bit to world up vector if the character is rotated (for wall-running) + if (Vector3.Angle(transform.up, Vector3.up) <= 0.01f) return; + + Quaternion r = Quaternion.FromToRotation(transform.up, Vector3.up); + + RotateEffector(ik.solver.bodyEffector, r, 0.1f); + RotateEffector(ik.solver.leftShoulderEffector, r, 0.2f); + RotateEffector(ik.solver.rightShoulderEffector, r, 0.2f); + RotateEffector(ik.solver.leftHandEffector, r, 0.1f); + RotateEffector(ik.solver.rightHandEffector, r, 0.1f); + } + + // Rotate an effector from the root of the character + private void RotateEffector(IKEffector effector, Quaternion rotation, float mlp) { + Vector3 d1 = effector.bone.position - transform.position; + Vector3 d2 = rotation * d1; + Vector3 offset = d2 - d1; + effector.positionOffset += offset * mlp; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs.meta new file mode 100644 index 00000000..b5c37b36 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterAnimationThirdPersonIK.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: da28f9c80db074b10842df00a4b50b12 +timeCreated: 1435755417 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs new file mode 100644 index 00000000..09eeac18 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs @@ -0,0 +1,57 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Basic Mecanim character controller for 3rd person view. + /// + public class CharacterController3rdPerson: MonoBehaviour { + + public CameraController cam; // The camera + + private AnimatorController3rdPerson animatorController; // The Animator controller + + void Start() { + animatorController = GetComponent(); + + cam.enabled = false; + } + + void LateUpdate() { + // Update the camera first so we always have its final translation in the frame + cam.UpdateInput(); + cam.UpdateTransform(); + + // Read the input + Vector3 input = inputVector; + + // Should the character be moving? + // inputVectorRaw is required here for not starting a transition to idle on that one frame where inputVector is Vector3.zero when reversing directions. + bool isMoving = inputVector != Vector3.zero || inputVectorRaw != Vector3.zero; + + // Character look at vector. + Vector3 lookDirection = cam.transform.forward; + + // Aiming target + Vector3 aimTarget = cam.transform.position + (lookDirection * 10f); + + // Move the character. + animatorController.Move(input, isMoving, lookDirection, aimTarget); + } + + // Convert the input axis to a vector + private static Vector3 inputVector { + get { + return new Vector3(Input.GetAxis("Horizontal"), 0f, Input.GetAxis("Vertical")); + } + } + + // Convert the raw input axis to a vector + private static Vector3 inputVectorRaw { + get { + return new Vector3(Input.GetAxisRaw("Horizontal"), 0f, Input.GetAxisRaw("Vertical")); + } + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs.meta new file mode 100644 index 00000000..d278e838 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/CharacterController3rdPerson.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2e2dfae99419b433289fb54f4c763435 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs new file mode 100644 index 00000000..6e58940b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs @@ -0,0 +1,40 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demo for offsetting Effectors. + /// + public class EffectorOffset : OffsetModifier { + + // If 1, The hand effectors will maintain their position relative to their parent triangle's rotation {root node, left shoulder, right shoulder} + [Range(0f, 1f)] + public float handsMaintainRelativePositionWeight; + + // The offset vectors for each effector + public Vector3 bodyOffset, leftShoulderOffset, rightShoulderOffset, leftThighOffset, rightThighOffset, leftHandOffset, rightHandOffset, leftFootOffset, rightFootOffset; + + protected override void OnModifyOffset() { + // How much will the hand effectors maintain their position relative to their parent triangle's rotation {root node, left shoulder, right shoulder} ? + ik.solver.leftHandEffector.maintainRelativePositionWeight = handsMaintainRelativePositionWeight; + ik.solver.rightHandEffector.maintainRelativePositionWeight = handsMaintainRelativePositionWeight; + + // Apply position offsets relative to this GameObject's rotation. + ik.solver.bodyEffector.positionOffset += transform.rotation * bodyOffset * weight; + ik.solver.leftShoulderEffector.positionOffset += transform.rotation * leftShoulderOffset * weight; + ik.solver.rightShoulderEffector.positionOffset += transform.rotation * rightShoulderOffset * weight; + ik.solver.leftThighEffector.positionOffset += transform.rotation * leftThighOffset * weight; + ik.solver.rightThighEffector.positionOffset += transform.rotation * rightThighOffset * weight; + ik.solver.leftHandEffector.positionOffset += transform.rotation * leftHandOffset * weight; + ik.solver.rightHandEffector.positionOffset += transform.rotation * rightHandOffset * weight; + ik.solver.leftFootEffector.positionOffset += transform.rotation * leftFootOffset * weight; + ik.solver.rightFootEffector.positionOffset += transform.rotation * rightFootOffset * weight; + + // NB! effector position offsets are reset to Vector3.zero after FBBIK update is complete. + // This enables to have more than one script modifying the position offset of effectors. + // Therefore instead of writing effector.positionOffset = value, write effector.positionOffset += value instead. + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs.meta new file mode 100644 index 00000000..308807a7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/EffectorOffset.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c96ec8ee850b44337a19453c26b170ed +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs new file mode 100644 index 00000000..ada60d68 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs @@ -0,0 +1,76 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demo of exploding a viking using FBBIK + /// + public class ExplosionDemo : MonoBehaviour { + + public SimpleLocomotion character; // Reference to the SimpleLocomotion component + public float forceMlp = 1f; // Explosion force + public float upForce = 1f; // Explosion up forve + public float weightFalloffSpeed = 1f; // The speed of explosion falloff + public AnimationCurve weightFalloff; // Explosion weight falloff + public AnimationCurve explosionForceByDistance; // The force of the explosion relative to character distance to the bomb + public AnimationCurve scale; // Scaling the bomb GameObject with the explosion + + private float weight = 0f; + private Vector3 defaultScale = Vector3.one; + private Rigidbody r; + private FullBodyBipedIK ik; + + void Start() { + // Storing the default scale of the bomb + defaultScale = transform.localScale; + + r = character.GetComponent(); + ik = character.GetComponent(); + } + + // Update is called once per frame + void Update () { + weight = Mathf.Clamp(weight - Time.deltaTime * weightFalloffSpeed, 0f, 1f); + + // Exploding the bomb + if (Input.GetKeyDown(KeyCode.E) && character.isGrounded) { + // Set FBBIK weight to 1 + ik.solver.IKPositionWeight = 1f; + + // Set limb effector positions to where they are at the momemt + ik.solver.leftHandEffector.position = ik.solver.leftHandEffector.bone.position; + ik.solver.rightHandEffector.position = ik.solver.rightHandEffector.bone.position; + ik.solver.leftFootEffector.position = ik.solver.leftFootEffector.bone.position; + ik.solver.rightFootEffector.position = ik.solver.rightFootEffector.bone.position; + + weight = 1f; + + // Add explosion force to the character rigidbody + Vector3 direction = r.position - transform.position; + direction.y = 0f; + float explosionForce = explosionForceByDistance.Evaluate(direction.magnitude); + r.linearVelocity = (direction.normalized + (Vector3.up * upForce)) * explosionForce * forceMlp; + } + + if (weight < 0.5f && character.isGrounded) { + weight = Mathf.Clamp(weight - Time.deltaTime * 3f, 0f, 1f); + } + + // Set effector weights + SetEffectorWeights(weightFalloff.Evaluate(weight)); + + // Set bomb scale + transform.localScale = scale.Evaluate(weight) * defaultScale; + } + + // Set FBBIK limb end-effector weights to value + private void SetEffectorWeights(float w) { + ik.solver.leftHandEffector.positionWeight = w; + ik.solver.rightHandEffector.positionWeight = w; + ik.solver.leftFootEffector.positionWeight = w; + ik.solver.rightFootEffector.positionWeight = w; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs.meta new file mode 100644 index 00000000..0e4df8fe --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ExplosionDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 5ee6c787adaa94deaa3c39e20323f559 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs new file mode 100644 index 00000000..8d4740a7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs @@ -0,0 +1,60 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Manages FBBIK settings that are not visible in the FBBIK custom inspector. + /// + public class FBBIKSettings : MonoBehaviour { + + /// + /// Settings for a limb + /// + [System.Serializable] + public class Limb { + public FBIKChain.Smoothing reachSmoothing; // Smoothing of the Reach effect (since 0.2) + public float maintainRelativePositionWeight; // Weight of maintaining the limb's position relative to the body part that it is attached to (since 0.2, used to be IKEffector.Mode.MaintainRelativePosition) + public float mappingWeight = 1f; + + // Apply the settings + public void Apply(FullBodyBipedChain chain, IKSolverFullBodyBiped solver) { + solver.GetChain(chain).reachSmoothing = reachSmoothing; + solver.GetEndEffector(chain).maintainRelativePositionWeight = maintainRelativePositionWeight; + solver.GetLimbMapping(chain).weight = mappingWeight; + } + } + + public FullBodyBipedIK ik; // Reference to the FBBIK component + public bool disableAfterStart; // If true, will not update after Start + public Limb leftArm, rightArm, leftLeg, rightLeg; // The Limbs + + public float rootPin = 0f; // Weight of pinning the root node to its animated position + public bool bodyEffectChildNodes = true; // If true, the body effector will also drag the thigh effectors + + // Apply all the settings to the FBBIK solver + public void UpdateSettings() { + if (ik == null) return; + + leftArm.Apply(FullBodyBipedChain.LeftArm, ik.solver); + rightArm.Apply(FullBodyBipedChain.RightArm, ik.solver); + leftLeg.Apply(FullBodyBipedChain.LeftLeg, ik.solver); + rightLeg.Apply(FullBodyBipedChain.RightLeg, ik.solver); + + ik.solver.chain[0].pin = rootPin; + ik.solver.bodyEffector.effectChildNodes = bodyEffectChildNodes; + } + + void Start() { + Debug.Log("FBBIKSettings is deprecated, you can now edit all the settings from the custom inspector of the FullBodyBipedIK component."); + + UpdateSettings(); + if (disableAfterStart) this.enabled = false; + } + + void Update() { + UpdateSettings(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs.meta new file mode 100644 index 00000000..2ce08ae1 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBBIKSettings.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ed9ee7f6cba9940a183a1b13f38f3c67 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs new file mode 100644 index 00000000..d6e806e7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs @@ -0,0 +1,30 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Bend goal for FullBodyBipedIK. + /// + public class FBIKBendGoal: MonoBehaviour { + + public FullBodyBipedIK ik; // Refernce to the FBBIK component + public FullBodyBipedChain chain; // Which limb is this bend goal for? + + public float weight; // Bend goal weight + + void Start() { + Debug.Log("FBIKBendGoal is deprecated, you can now a bend goal from the custom inspector of the FullBodyBipedIK component."); + } + + void Update() { + if (ik == null) return; + + ik.solver.GetBendConstraint(chain).bendGoal = transform; + ik.solver.GetBendConstraint(chain).weight = weight; + } + } +} + + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs.meta new file mode 100644 index 00000000..3454335a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBendGoal.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1a95ef1aaef9e41ef94e5cf5cb1a2491 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs new file mode 100644 index 00000000..cade5b44 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs @@ -0,0 +1,57 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demo script for boxing with the combination of FullBodyBipedIK and Aim IK. + /// + public class FBIKBoxing : MonoBehaviour { + + [Tooltip("The target we want to hit")] + public Transform target; + [Tooltip("The pin Transform is used to reference the exact hit point in the animation (used by AimIK to aim the upper body to follow the target)." + + "In Legacy and Generic modes you can just create and position a reference point in your animating software and include it in the FBX. " + + "Then in Unity if you added a GameObject with the exact same name under the character's root, it would be animated to the required position." + + "In Humanoid mode however, Mecanim loses track of any Transform that does not belong to the avatar, so in this case the pin point has to be manually set inside the Unity Editor.")] + public Transform pin; + [Tooltip("The Full Body Biped IK component")] + public FullBodyBipedIK ik; + [Tooltip("The Aim IK component. Aim IK is ust used for following the target slightly with the body.")] + public AimIK aim; + [Tooltip("The master weight")] + public float weight; + [Tooltip("The effector type of the punching hand")] + public FullBodyBipedEffector effector; + [Tooltip("Weight of aiming the body to follow the target")] + public AnimationCurve aimWeight; + + private Animator animator; + + void Start() { + animator = GetComponent(); + } + + void LateUpdate() { + // Getting the weight of pinning the fist to the target + float hitWeight = animator.GetFloat("HitWeight"); + + // Pinning the first with FBIK + ik.solver.GetEffector(effector).position = target.position; + ik.solver.GetEffector(effector).positionWeight = hitWeight * weight; + + // Aiming the body with AimIK to follow the target + if (aim != null) { + // Make the aim transform always look at the pin. This will normalize the default aim diretion to the animated pose. + aim.solver.transform.LookAt(pin.position); + + // Set aim target + aim.solver.IKPosition = target.position; + + // Setting aim weight + aim.solver.IKPositionWeight = aimWeight.Evaluate(hitWeight) * weight; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs.meta new file mode 100644 index 00000000..50a8ec84 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKBoxing.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d2b4d13a962bb4d0e9a622c7f12937d7 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs new file mode 100644 index 00000000..8ee362e5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs @@ -0,0 +1,70 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Maintains FBBIK hands on a 2-handed prop, regardless of position offset of the hand effectors + /// + public class FBIKHandsOnProp: MonoBehaviour { + + public FullBodyBipedIK ik; // Reference to the FBBIK component + public bool leftHanded; + + void Awake() { + // Add to OnPreUpdate delegate to get a call before the solver starts updating + ik.solver.OnPreRead += OnPreRead; + } + + private void OnPreRead() { + if (leftHanded) HandsOnProp(ik.solver.leftHandEffector, ik.solver.rightHandEffector); + else HandsOnProp(ik.solver.rightHandEffector, ik.solver.leftHandEffector); + } + + private void HandsOnProp(IKEffector mainHand, IKEffector otherHand) { + // Get the animated direction from the main hand to the other hand + Vector3 toOtherHand = otherHand.bone.position - mainHand.bone.position; + + // Get the hand direction relative to the main hand's rotation + Vector3 otherHandRelativeDirection = Quaternion.Inverse(mainHand.bone.rotation) * toOtherHand; + + // Get the center point of two hands + Vector3 handsCenter = mainHand.bone.position + (toOtherHand * 0.5f); + + // Get the other hand's rotation relative to the main hand's rotation + Quaternion otherHandRelativeRotation = Quaternion.Inverse(mainHand.bone.rotation) * otherHand.bone.rotation; + + // Get the direction from the main hand to the other hand that icludes effector position offsets + Vector3 toOtherHandWithOffset = (otherHand.bone.position + otherHand.positionOffset) - (mainHand.bone.position + mainHand.positionOffset); + + // Get the center point of two hands that includes effector position offsets + Vector3 handsCenterWithOffset = (mainHand.bone.position + mainHand.positionOffset) + (toOtherHand * 0.5f); + + // Main hand position + mainHand.position = (mainHand.bone.position + mainHand.positionOffset) + (handsCenterWithOffset - handsCenter); + mainHand.positionWeight = 1f; + + // Main hand rotation + Quaternion rotationOffset = Quaternion.FromToRotation(toOtherHand, toOtherHandWithOffset); + mainHand.bone.rotation = rotationOffset * mainHand.bone.rotation; + + // Other hand position + otherHand.position = mainHand.position + mainHand.bone.rotation * otherHandRelativeDirection; + otherHand.positionWeight = 1f; + + // Other hand rotation + otherHand.bone.rotation = mainHand.bone.rotation * otherHandRelativeRotation; + + ik.solver.leftArmMapping.maintainRotationWeight = 1f; + ik.solver.rightArmMapping.maintainRotationWeight = 1f; + } + + // Clean up delegates + void OnDestroy() { + if (ik != null) { + ik.solver.OnPreRead -= OnPreRead; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs.meta new file mode 100644 index 00000000..701fe5e0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FBIKHandsOnProp.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ec5a53b0c81f7774aabb2eec99071ea3 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs new file mode 100644 index 00000000..c48c9036 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs @@ -0,0 +1,172 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Basic full body FPS IK controller. + /// + /// If aimWeight is weighed in, the character will simply use AimIK to aim his gun towards the camera forward direction. + /// If sightWeight is weighed in, the character will also use FBBIK to pose the gun to a predefined position relative to the camera so it stays fixed in view. + /// That position was simply defined by making a copy of the gun (gunTarget), parenting it to the camera and positioning it so that the camera would look down its sights. + /// + public class FPSAiming : MonoBehaviour { + + [Range(0f, 1f)] public float aimWeight = 1f; // The weight of aiming the gun towards camera forward + [Range(0f, 1f)] public float sightWeight = 1f; // the weight of aiming down the sight (multiplied by aimWeight) + [Range(0f, 180f)] public float maxAngle = 80f; // The maximum angular offset of the aiming direction from the character forward. Character will be rotated to comply. + public Vector3 aimOffset; // Can be used to adjust the aiming angle + + public bool animatePhysics; // Is Animate Physiscs turned on for the character? + public Transform gun; // The gun that the character is holding + public Transform gunTarget; // The copy of the gun that has been parented to the camera + public FullBodyBipedIK ik; // Reference to the FBBIK component + public AimIK gunAim; // Reference to the AimIK component + public AimIK headAim; // AimIK solver used for look-at when aimWeight < 1 + public CameraControllerFPS cam; // Reference to the FPS camera + public Recoil recoil; // The recoil component (optional) + [Range(0f, 1f)] public float cameraRecoilWeight = 0.5f; // How much of the recoil motion is added to the camera? + + private Vector3 gunTargetDefaultLocalPosition; + private Vector3 gunTargetDefaultLocalRotation; + private Vector3 camDefaultLocalPosition; + private Vector3 camRelativeToGunTarget; + private bool updateFrame; + + void Start() { + // Remember some default local positions + gunTargetDefaultLocalPosition = gunTarget.localPosition; + gunTargetDefaultLocalRotation = gunTarget.localEulerAngles; + camDefaultLocalPosition = cam.transform.localPosition; + + // Disable the camera and IK components so we can handle their execution order + cam.enabled = false; + gunAim.enabled = false; + if (headAim != null) headAim.enabled = false; + ik.enabled = false; + + if (recoil != null && ik.solver.iterations == 0) Debug.LogWarning("FPSAiming with Recoil needs FBBIK solver iteration count to be at least 1 to maintain accuracy."); + } + + void FixedUpdate() { + // Making sure this works with Animate Physics + updateFrame = true; + } + + + void LateUpdate() { + // Making sure this works with Animate Physics + if (!animatePhysics) updateFrame = true; + if (!updateFrame) return; + updateFrame = false; + + // Put the camera back to its default local position relative to the head + cam.transform.localPosition = camDefaultLocalPosition; + + // Remember the camera's position relative to the gun target + camRelativeToGunTarget = gunTarget.InverseTransformPoint(cam.transform.position); + + // Update the camera + cam.LateUpdate(); + + // Rotating the root of the character if it is past maxAngle from the camera forward + RotateCharacter(); + + Aiming(); + + LookDownTheSight(); + } + + private void Aiming() + { + if (aimWeight <= 0f) return; + + // Remember the rotation of the camera because we need to reset it later so the IK would not interfere with the rotating of the camera + Quaternion camRotation = cam.transform.rotation; + + if (headAim != null) + { + // Aim head towards camera forward + headAim.solver.IKPosition = cam.transform.position + cam.transform.forward * 10f; + headAim.solver.IKPositionWeight = 1f - aimWeight; + headAim.solver.Update(); + } + + // Aim the gun towards camera forward + gunAim.solver.IKPosition = cam.transform.position + cam.transform.forward * 10f + cam.transform.rotation * aimOffset; + gunAim.solver.IKPositionWeight = aimWeight; + gunAim.solver.Update(); + + cam.transform.rotation = camRotation; + } + + private void LookDownTheSight() { + float sW = aimWeight * sightWeight; + //if (sW <= 0f && recoil == null) return; + + // Interpolate the gunTarget from the current animated position of the gun to the position fixed to the camera + gunTarget.position = Vector3.Lerp(gun.position, gunTarget.parent.TransformPoint(gunTargetDefaultLocalPosition), sW); + gunTarget.rotation = Quaternion.Lerp(gun.rotation, gunTarget.parent.rotation * Quaternion.Euler(gunTargetDefaultLocalRotation), sW); + + // Get the current positions of the hands relative to the gun + Vector3 leftHandRelativePosition = gun.InverseTransformPoint(ik.solver.leftHandEffector.bone.position); + Vector3 rightHandRelativePosition = gun.InverseTransformPoint(ik.solver.rightHandEffector.bone.position); + + // Get the current rotations of the hands relative to the gun + Quaternion leftHandRelativeRotation = Quaternion.Inverse(gun.rotation) * ik.solver.leftHandEffector.bone.rotation; + Quaternion rightHandRelativeRotation = Quaternion.Inverse(gun.rotation) * ik.solver.rightHandEffector.bone.rotation; + + //float handWeight = aimWeight > 0 && sightWeight > 0? aimWeight * sightWeight: 0f; + float handWeight = 1f;//aimWeight * sightWeight; + + ik.solver.leftHandEffector.positionOffset += (gunTarget.TransformPoint(leftHandRelativePosition) - (ik.solver.leftHandEffector.bone.position + ik.solver.leftHandEffector.positionOffset)) * handWeight; + ik.solver.rightHandEffector.positionOffset += (gunTarget.TransformPoint(rightHandRelativePosition) - (ik.solver.rightHandEffector.bone.position + ik.solver.rightHandEffector.positionOffset)) * handWeight; + + // Make sure the head does not rotate + ik.solver.headMapping.maintainRotationWeight = 1f; + + if (recoil != null) recoil.SetHandRotations(gunTarget.rotation * leftHandRelativeRotation, gunTarget.rotation * rightHandRelativeRotation); + + // Update FBBIK + ik.solver.Update(); + + // Rotate the hand bones relative to the gun target the same way they are rotated relative to the gun + if (recoil != null) { + ik.references.leftHand.rotation = recoil.rotationOffset * (gunTarget.rotation * leftHandRelativeRotation); + ik.references.rightHand.rotation = recoil.rotationOffset * (gunTarget.rotation * rightHandRelativeRotation); + } else { + ik.references.leftHand.rotation = gunTarget.rotation * leftHandRelativeRotation; + ik.references.rightHand.rotation = gunTarget.rotation * rightHandRelativeRotation; + } + + // Position the camera to where it was before FBBIK relative to the gun + cam.transform.position = Vector3.Lerp(cam.transform.position, Vector3.Lerp(gunTarget.TransformPoint(camRelativeToGunTarget), gun.transform.TransformPoint(camRelativeToGunTarget), cameraRecoilWeight), sW); + } + + // Rotating the root of the character if it is past maxAngle from the camera forward + private void RotateCharacter() { + if (maxAngle >= 180f) return; + + // If no angular difference is allowed, just rotate the character to the flattened camera forward + if (maxAngle <= 0f) { + transform.rotation = Quaternion.LookRotation(new Vector3(cam.transform.forward.x, 0f, cam.transform.forward.z)); + return; + } + + // Get camera forward in the character's rotation space + Vector3 camRelative = transform.InverseTransformDirection(cam.transform.forward); + + // Get the angle of the camera forward relative to the character forward + float angle = Mathf.Atan2(camRelative.x, camRelative.z) * Mathf.Rad2Deg; + + // Making sure the angle does not exceed maxangle + if (Mathf.Abs(angle) > Mathf.Abs(maxAngle)) { + float a = angle - maxAngle; + if (angle < 0f) a = angle + maxAngle; + transform.rotation = Quaternion.AngleAxis(a, transform.up) * transform.rotation; + } + } + } + +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs.meta new file mode 100644 index 00000000..3e1dc676 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSAiming.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 343587580f6674d5e9346929324ec997 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs new file mode 100644 index 00000000..ad92521a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs @@ -0,0 +1,38 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Demo character controller for the Full Body FPS scene. + /// + public class FPSCharacter: MonoBehaviour { + + [Range(0f, 1f)] public float walkSpeed = 0.5f; + + private float sVel; + private Animator animator; + private FPSAiming FPSAiming; + + void Start() { + animator = GetComponent(); + FPSAiming = GetComponent(); + } + + void Update() { + // Aiming down the sight of the gun when RMB is down + FPSAiming.sightWeight = Mathf.SmoothDamp(FPSAiming.sightWeight, (Input.GetMouseButton(1)? 1f: 0f), ref sVel, 0.1f); + + // Set to full values to optimize IK + if (FPSAiming.sightWeight < 0.001f) FPSAiming.sightWeight = 0f; + if (FPSAiming.sightWeight > 0.999f) FPSAiming.sightWeight = 1f; + + animator.SetFloat("Speed", walkSpeed); + } + + void OnGUI() { + GUI.Label(new Rect(Screen.width - 210, 10, 200, 25), "Hold RMB to aim down the sight"); + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs.meta new file mode 100644 index 00000000..732de547 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/FPSCharacter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c2f6cdcc8d33545af81dd246de448e9d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs new file mode 100644 index 00000000..408201f8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs @@ -0,0 +1,40 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Triggering Hit Reactions on mouse button. + /// + public class HitReactionTrigger: MonoBehaviour { + + public HitReaction hitReaction; + public float hitForce = 1f; + + private string colliderName; + + void Update() { + // On left mouse button... + if (Input.GetMouseButtonDown(0)) { + Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition); + + // Raycast to find a ragdoll collider + RaycastHit hit = new RaycastHit(); + if (Physics.Raycast(ray, out hit, 100f)) { + + // Use the HitReaction + hitReaction.Hit(hit.collider, ray.direction * hitForce, hit.point); + + // Just for GUI + colliderName = hit.collider.name; + } + } + } + + void OnGUI() { + GUILayout.Label("LMB to shoot the Dummy, RMB to rotate the camera."); + if (colliderName != string.Empty) GUILayout.Label("Last Bone Hit: " + colliderName); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs.meta new file mode 100644 index 00000000..b2f5bf33 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HitReactionTrigger.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 36c4cd7e8f3ef4beca08a45c21632be2 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs new file mode 100644 index 00000000..1f50db5d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs @@ -0,0 +1,42 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Holding hands rig. + /// + public class HoldingHands : MonoBehaviour { + + public FullBodyBipedIK rightHandChar, leftHandChar; // The characters + + public Transform rightHandTarget, leftHandTarget; // IK targets for the hands + public float crossFade; // Which character is dominating? + public float speed = 10f; // Speed of smoothly lerping the hands target + + private Quaternion rightHandRotation, leftHandRotation; + + void Start() { + // Find the rotations of the hands target (this gameobject) in the rotation spaces of the hand bones + rightHandRotation = Quaternion.Inverse(rightHandChar.solver.rightHandEffector.bone.rotation) * transform.rotation; + leftHandRotation = Quaternion.Inverse(leftHandChar.solver.leftHandEffector.bone.rotation) * transform.rotation; + } + + void LateUpdate () { + // Positioning the hands target + Vector3 targetPosition = Vector3.Lerp(rightHandChar.solver.rightHandEffector.bone.position, leftHandChar.solver.leftHandEffector.bone.position, crossFade); + transform.position = Vector3.Lerp(transform.position, targetPosition, Time.deltaTime * speed); + + // Rotating the hands target + transform.rotation = Quaternion.Slerp(rightHandChar.solver.rightHandEffector.bone.rotation * rightHandRotation, leftHandChar.solver.leftHandEffector.bone.rotation * leftHandRotation, crossFade); + + // Set effector positions and rotations + rightHandChar.solver.rightHandEffector.position = rightHandTarget.position; + rightHandChar.solver.rightHandEffector.rotation = rightHandTarget.rotation; + + leftHandChar.solver.leftHandEffector.position = leftHandTarget.position; + leftHandChar.solver.leftHandEffector.rotation = leftHandTarget.rotation; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs.meta new file mode 100644 index 00000000..15aee2d7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/HoldingHands.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 19f36a5a29ba54779bbe13c64fd30c69 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs new file mode 100644 index 00000000..e3a161d9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs @@ -0,0 +1,32 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demonstrating character-character FBBIK interaction. + /// + public class InteractionC2CDemo : MonoBehaviour { + + // GUI for testing + void OnGUI() { + if (GUILayout.Button("Shake Hands")) { + + character1.StartInteraction(FullBodyBipedEffector.RightHand, handShake, true); + character2.StartInteraction(FullBodyBipedEffector.RightHand, handShake, true); + + } + } + + public InteractionSystem character1, character2; // The InteractionSystems of the characters + public InteractionObject handShake; // The HandShake InteractionObject + + void LateUpdate() { + // Positioning the handshake to the middle of the hands + Vector3 handsCenter = Vector3.Lerp(character1.ik.solver.rightHandEffector.bone.position, character2.ik.solver.rightHandEffector.bone.position, 0.5f); + handShake.transform.position = handsCenter; + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs.meta new file mode 100644 index 00000000..ed320752 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionC2CDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c7e8eb3221b4c45078730c0cad5bde83 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs new file mode 100644 index 00000000..2ef74840 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs @@ -0,0 +1,73 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Simple demo controller for the InteractionSystem. + /// + public class InteractionDemo : MonoBehaviour { + + public InteractionSystem interactionSystem; // Reference to the InteractionSystem of the character + + public bool interrupt; // Can we interrupt an interaction of an effector? + + // The interaction objects + public InteractionObject ball, benchMain, benchHands, button, cigarette, door; + + private bool isSitting; + + // GUI for calling the interactions + void OnGUI() { + interrupt = GUILayout.Toggle(interrupt, "Interrupt"); + + // While seated + if (isSitting) { + + if (!interactionSystem.inInteraction && GUILayout.Button("Stand Up")) { + interactionSystem.ResumeAll(); + + isSitting = false; + } + + return; + } + + // While standing + + if (GUILayout.Button("Pick Up Ball")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, ball, interrupt); + } + + if (GUILayout.Button("Button Left Hand")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftHand, button, interrupt); + } + + if (GUILayout.Button("Button Right Hand")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, button, interrupt); + } + + if (GUILayout.Button("Put Out Cigarette")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.RightFoot, cigarette, interrupt); + } + + if (GUILayout.Button("Open Door")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftHand, door, interrupt); + } + + // This is a multiple-effector interaction + if (!interactionSystem.inInteraction && GUILayout.Button("Sit Down")) { + interactionSystem.StartInteraction(FullBodyBipedEffector.Body, benchMain, interrupt); + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftThigh, benchMain, interrupt); + interactionSystem.StartInteraction(FullBodyBipedEffector.RightThigh, benchMain, interrupt); + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftFoot, benchMain, interrupt); + + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftHand, benchHands, interrupt); + interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, benchHands, interrupt); + + isSitting = true; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs.meta new file mode 100644 index 00000000..bd0df784 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a6c1fe7250c0a4474b17dce2b640d1da +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs new file mode 100644 index 00000000..e9bc6f89 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs @@ -0,0 +1,44 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Simple GUI for quickly testing out interactions. + /// + public class InteractionSystemTestGUI : MonoBehaviour { + + [Tooltip("The object to interact to")] + public InteractionObject interactionObject; + [Tooltip("The effectors to interact with")] + public FullBodyBipedEffector[] effectors; + + private InteractionSystem interactionSystem; + + void Awake() { + interactionSystem = GetComponent(); + } + + void OnGUI() { + if (interactionSystem == null) return; + + if (GUILayout.Button("Start Interaction With " + interactionObject.name)) { + if (effectors.Length == 0) Debug.Log("Please select the effectors to interact with."); + + foreach (FullBodyBipedEffector e in effectors) { + interactionSystem.StartInteraction(e, interactionObject, true); + } + } + + if (effectors.Length == 0) return; + + if (interactionSystem.IsPaused(effectors[0])) { + if (GUILayout.Button("Resume Interaction With " + interactionObject.name)) { + + interactionSystem.ResumeAll(); + } + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs.meta new file mode 100644 index 00000000..9f566e41 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/InteractionSystemTestGUI.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 8cc0304f5a703416ebff81ad105ddf18 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs new file mode 100644 index 00000000..71a88160 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs @@ -0,0 +1,114 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// FBBIK example rig for a kissing emote. + /// As the IK targets of one FBBIK partner depend on the solved pose of another FBBIK partner and vice versa, the rig will have to be iterated a couple of times to make it work. + /// + public class KissingRig : MonoBehaviour { + + /// + /// A partner in the emote + /// + [System.Serializable] + public class Partner { + + public FullBodyBipedIK ik; // Reference to the FBBIK component + public Transform mouth; // The mouth bone, should be attached to the head + public Transform mouthTarget; // The target that we want to set the mouth bone to + public Transform touchTargetLeftHand, touchTargetRightHand; // Touch targets for the hands + public float bodyWeightHorizontal = 0.4f; // The body effector horizontal weight + public float bodyWeightVertical = 1f; // The body effector vertical weight + public float neckRotationWeight = 0.3f; // The neck rotation weight + public float headTiltAngle = 10f; // Tilting the head + public Vector3 headTiltAxis; // Head tilt axis + + private Quaternion neckRotation; + + public void Initiate() { + // Disable the FBBIK component to manage its updating + ik.enabled = false; + } + + public void Update(float weight) { + // Set IK position and rotation weights + ik.solver.leftShoulderEffector.positionWeight = weight; + ik.solver.rightShoulderEffector.positionWeight = weight; + ik.solver.leftHandEffector.positionWeight = weight; + ik.solver.rightHandEffector.positionWeight = weight; + ik.solver.leftHandEffector.rotationWeight = weight; + ik.solver.rightHandEffector.rotationWeight = weight; + ik.solver.bodyEffector.positionWeight = weight; + + // Inverse transform the shoulder and body effectors to set them relative to the mouth bone's position in the animation + InverseTransformEffector(FullBodyBipedEffector.LeftShoulder, mouth, mouthTarget.position, weight); + InverseTransformEffector(FullBodyBipedEffector.RightShoulder, mouth, mouthTarget.position, weight); + InverseTransformEffector(FullBodyBipedEffector.Body, mouth, mouthTarget.position, weight); + + // Positioning the body effector horizontally + ik.solver.bodyEffector.position = Vector3.Lerp(new Vector3(ik.solver.bodyEffector.position.x, ik.solver.bodyEffector.bone.position.y, ik.solver.bodyEffector.position.z), ik.solver.bodyEffector.position, bodyWeightVertical * weight); + + // Positioning the body effector vertically + ik.solver.bodyEffector.position = Vector3.Lerp(new Vector3(ik.solver.bodyEffector.bone.position.x, ik.solver.bodyEffector.position.y, ik.solver.bodyEffector.bone.position.z), ik.solver.bodyEffector.position, bodyWeightHorizontal * weight); + + // Set hand effector positions to touch targets + ik.solver.leftHandEffector.position = touchTargetLeftHand.position; + ik.solver.rightHandEffector.position = touchTargetRightHand.position; + ik.solver.leftHandEffector.rotation = touchTargetLeftHand.rotation; + ik.solver.rightHandEffector.rotation = touchTargetRightHand.rotation; + + // Store the neck rotation so we could slerp back to it after updating FBBIK + neckRotation = neck.rotation; + + // Update the FBBIK solver + ik.solver.Update(); + + // Revert the neck back to its animated rotation + neck.rotation = Quaternion.Slerp(neck.rotation, neckRotation, neckRotationWeight * weight); + + // Head tilting + ik.references.head.localRotation = Quaternion.AngleAxis(headTiltAngle * weight, headTiltAxis) * ik.references.head.localRotation; + } + + // Get the neck bone + private Transform neck { + get { + return ik.solver.spineMapping.spineBones[ik.solver.spineMapping.spineBones.Length - 1]; + } + } + + // Placing an effector so that an arbitrary Transform (target) ends up at targetPosition + private void InverseTransformEffector(FullBodyBipedEffector effector, Transform target, Vector3 targetPosition, float weight) { + // Direction from the target to the effector + Vector3 toEffector = ik.solver.GetEffector(effector).bone.position - target.position; + + // Positioning the effector + ik.solver.GetEffector(effector).position = Vector3.Lerp(ik.solver.GetEffector(effector).bone.position, targetPosition + toEffector, weight); + } + } + + public Partner partner1, partner2; // The partners + + [Range(0f, 1f)] public float weight; // The master weight + [Range(1, 4)] public int iterations = 3; // The number of iterating this rig. + // As the IK targets of one FBBIK partner depend on the solved pose of another FBBIK partner and vice versa, + // the rig will have to be iterated a couple of times to make it work. + + void Start() { + // Initiating the partners + partner1.Initiate(); + partner2.Initiate(); + } + + void LateUpdate() { + // Iterate the rig + for (int i = 0; i < iterations; i++) { + partner1.Update(weight); + partner2.Update(weight); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs.meta new file mode 100644 index 00000000..08bdf79b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/KissingRig.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 124812fe005074e3090d2734c12bd7e9 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs new file mode 100644 index 00000000..b2733cc7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs @@ -0,0 +1,130 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Absorbing motion on FBBIK effectors on impact. Attach this to the GameObject that receives OnCollisionEnter calls. + /// + public class MotionAbsorb : OffsetModifier { + + [System.Serializable] + public enum Mode { + Position, + PositionOffset + } + + // Manages motion absorbing for an effector + [System.Serializable] + public class Absorber { + + [Tooltip("The type of effector (hand, foot, shoulder...) - this is just an enum")] + public FullBodyBipedEffector effector; + [Tooltip("How much should motion be absorbed on this effector")] + public float weight = 1f; + + private Vector3 position; + private Quaternion rotation = Quaternion.identity; + + private IKEffector e; + + // Set effector position and rotation to match its bone + public void SetToBone(IKSolverFullBodyBiped solver, Mode mode) { + e = solver.GetEffector(effector); + // Using world space position and rotation here for the sake of simplicity of the demo + // Ideally we should use position and rotation relative to character's root, so we could move around while doing this. + + switch(mode) { + case Mode.Position: + e.position = e.bone.position; + e.rotation = e.bone.rotation; + return; + case Mode.PositionOffset: + position = e.bone.position; + rotation = e.bone.rotation; + return; + } + } + + // Set effector position and rotation weight to match the value, multiply with the weight of this Absorber + public void UpdateEffectorWeights(float w) { + e.positionWeight = w * weight; + e.rotationWeight = w * weight; + } + + // Set effector positionOffset to match the position, multiply with the weight of this Absorber + public void SetPosition(float w) { + e.positionOffset += (position - e.bone.position) * w * weight; + } + + // Set effector bone rotation to match the rotation, multiply with the weight of this Absorber + public void SetRotation(float w) { + e.bone.rotation = Quaternion.Slerp(e.bone.rotation, rotation, w * weight); + } + } + + [Tooltip("Use either effector position, position weight, rotation, rotationWeight or positionOffset and rotating the bone directly.")] + public Mode mode; + [Tooltip("Array containing the absorbers")] + public Absorber[] absorbers; + [Tooltip("Weight falloff curve (how fast will the effect reduce after impact)")] + public AnimationCurve falloff; + [Tooltip("How fast will the impact fade away. (if 1, effect lasts for 1 second)")] + public float falloffSpeed = 1f; + + private float timer; // Used for fading out the effect of the impact + private float w; + private Mode initialMode; + + protected override void Start() { + base.Start(); + + ik.solver.OnPostUpdate += AfterIK; + + initialMode = mode; + } + + void OnCollisionEnter(Collision c) { + // Don't register another contact until the effect of the last one has faded + if (timer > 0f) return; + + // Reset timer + timer = 1f; + + // Set effector position and rotation to match its bone + for (int i = 0; i < absorbers.Length; i++) absorbers[i].SetToBone(ik.solver, mode); + } + + // Called by IKSolverFullBody before updating + protected override void OnModifyOffset() { + if (timer <= 0f) return; + mode = initialMode; + + // Fading out the effect + timer -= Time.deltaTime * falloffSpeed; + + // Evaluate the absorb weight + w = falloff.Evaluate(timer); + + // Set the weights of the effectors + if (mode == Mode.Position) { + for (int i = 0; i < absorbers.Length; i++) absorbers[i].UpdateEffectorWeights(w * weight); + } else { + for (int i = 0; i < absorbers.Length; i++) absorbers[i].SetPosition(w * weight); + } + } + + void AfterIK() { + if (timer <= 0f) return; + if (mode == Mode.Position) return; + + for (int i = 0; i < absorbers.Length; i++) absorbers[i].SetRotation(w * weight); + } + + protected override void OnDestroy() { + base.OnDestroy(); + if (ik != null) ik.solver.OnPostUpdate -= AfterIK; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs.meta new file mode 100644 index 00000000..862ce608 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorb.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 85872a1e4a1574355b197e878d6c3d43 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs new file mode 100644 index 00000000..a7ac55a9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs @@ -0,0 +1,45 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Motion Absorb demo character controller. + /// + public class MotionAbsorbCharacter : MonoBehaviour { + + public Animator animator; + public MotionAbsorb motionAbsorb; + public Transform cube; // The cube we are hitting + public float cubeRandomPosition = 0.1f; // Randomizing cube position after each hit + public AnimationCurve motionAbsorbWeight; + + private Vector3 cubeDefaultPosition; + private AnimatorStateInfo info; + private Rigidbody cubeRigidbody; + + void Start() { + // Storing the default position of the cube + cubeDefaultPosition = cube.position; + cubeRigidbody = cube.GetComponent(); + } + + void Update () { + // Set motion absorb weight + //motionAbsorb.weight = animator.GetFloat("MotionAbsorbWeight"); // NB! Using Mecanim curves is PRO only + + // Using an animation curve so it works with Unity Free as well + info = animator.GetCurrentAnimatorStateInfo(0); + motionAbsorb.weight = motionAbsorbWeight.Evaluate(info.normalizedTime - (int)info.normalizedTime); + } + + // Mecanim event + void SwingStart() { + // Reset the cube + cubeRigidbody.MovePosition(cubeDefaultPosition + UnityEngine.Random.insideUnitSphere * cubeRandomPosition); + cubeRigidbody.MoveRotation(Quaternion.identity); + cubeRigidbody.linearVelocity = Vector3.zero; + cubeRigidbody.angularVelocity = Vector3.zero; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs.meta new file mode 100644 index 00000000..9a75c156 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/MotionAbsorbCharacter.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 278ffbe117e4c4edba3d761b55ba7bbb +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs new file mode 100644 index 00000000..10c430a2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs @@ -0,0 +1,62 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Custom positionOffset effector for FBBIK, could be used for example to make a spine or pelvis effector. + /// + public class OffsetEffector : OffsetModifier { + + [System.Serializable] + public class EffectorLink { + public FullBodyBipedEffector effectorType; + public float weightMultiplier = 1f; + + [HideInInspector] public Vector3 localPosition; + } + + [Tooltip("Optional. Assign the bone Transform that is closest to this OffsetEffector to be able to call OffsetEffector.Anchor() in LateUpdate to match its position and rotation to animation.")] + public Transform anchor; + public EffectorLink[] effectorLinks; + + private Vector3 posRelToAnchor; + private Quaternion rotRelToAnchor = Quaternion.identity; + + protected override void Start() { + base.Start(); + + if (anchor != null) + { + posRelToAnchor = anchor.InverseTransformPoint(transform.position); + rotRelToAnchor = Quaternion.Inverse(anchor.rotation) * transform.rotation; + } + + // Store the default positions of the effectors relative to this GameObject's position + foreach (EffectorLink e in effectorLinks) { + var bone = ik.solver.GetEffector(e.effectorType).bone; + e.localPosition = transform.InverseTransformPoint(bone.position); + if (e.effectorType == FullBodyBipedEffector.Body) ik.solver.bodyEffector.effectChildNodes = false; + } + } + + protected override void OnModifyOffset() { + // Update the effectors + foreach (EffectorLink e in effectorLinks) { + // Using effector positionOffset + Vector3 positionTarget = transform.TransformPoint(e.localPosition); + + ik.solver.GetEffector(e.effectorType).positionOffset += (positionTarget - (ik.solver.GetEffector(e.effectorType).bone.position + ik.solver.GetEffector(e.effectorType).positionOffset)) * weight * e.weightMultiplier; + } + } + + public void Anchor() + { + if (anchor == null) return; + + transform.position = anchor.TransformPoint(posRelToAnchor); + transform.rotation = anchor.rotation * rotRelToAnchor; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs.meta new file mode 100644 index 00000000..1884e3d6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/OffsetEffector.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 863f1c6a1b50e40cfa321c4b7bd7b004 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs new file mode 100644 index 00000000..74dc9eb8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs @@ -0,0 +1,108 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Making a character hold on to a target and swing about it while maintaining his animation. + /// + public class PendulumExample : MonoBehaviour { + + [Tooltip("The master weight of this script.")] + [Range(0f, 1f)] public float weight = 1f; + + [Tooltip("Multiplier for the distance of the root to the target.")] + public float hangingDistanceMlp = 1.3f; + + [Tooltip("Where does the root of the character land when weight is blended out?")] + [HideInInspector] public Vector3 rootTargetPosition; + + [Tooltip("How is the root of the character rotated when weight is blended out?")] + [HideInInspector] public Quaternion rootTargetRotation; + + public Transform target; + public Transform leftHandTarget; + public Transform rightHandTarget; + public Transform leftFootTarget; + public Transform rightFootTarget; + public Transform pelvisTarget; + public Transform bodyTarget; + public Transform headTarget; + public Vector3 pelvisDownAxis = Vector3.right; + + private FullBodyBipedIK ik; + private Quaternion rootRelativeToPelvis; + private Vector3 pelvisToRoot; + private float lastWeight; + + void Start() { + ik = GetComponent(); + + // Connect the left hand to the target + Quaternion targetRotation = target.rotation; + target.rotation = leftHandTarget.rotation; + + FixedJoint j = target.gameObject.AddComponent(); + j.connectedBody = leftHandTarget.GetComponent(); + + target.GetComponent().MoveRotation(targetRotation); + //target.rotation = targetRotation; + + // Remember the rotation of the root relative to the pelvis + rootRelativeToPelvis = Quaternion.Inverse(pelvisTarget.rotation) * transform.rotation; + + // Remember the position of the root relative to the pelvis + pelvisToRoot = Quaternion.Inverse(ik.references.pelvis.rotation) * (transform.position - ik.references.pelvis.position); + + rootTargetPosition = transform.position; + rootTargetRotation = transform.rotation; + + lastWeight = weight; + } + + void LateUpdate() { + // Set effector weights + if (weight > 0f) { + ik.solver.leftHandEffector.positionWeight = weight; + ik.solver.leftHandEffector.rotationWeight = weight; + } else { + rootTargetPosition = transform.position; + rootTargetRotation = transform.rotation; + + if (lastWeight > 0f) { + ik.solver.leftHandEffector.positionWeight = 0f; + ik.solver.leftHandEffector.rotationWeight = 0f; + } + } + + lastWeight = weight; + if (weight <= 0f) return; + + // Position the character relative to the ragdoll pelvis + transform.position = Vector3.Lerp(rootTargetPosition, pelvisTarget.position + pelvisTarget.rotation * pelvisToRoot * hangingDistanceMlp, weight); + + // Rotate the character to the ragdoll pelvis + transform.rotation = Quaternion.Lerp(rootTargetRotation, pelvisTarget.rotation * rootRelativeToPelvis, weight); + + // Set ik effector positions + ik.solver.leftHandEffector.position = leftHandTarget.position; + ik.solver.leftHandEffector.rotation = leftHandTarget.rotation; + + // Get the normal hanging direction + Vector3 dir = ik.references.pelvis.rotation * pelvisDownAxis; + + // Rotating the limbs + // Get the rotation from normal hangind direction to the right arm ragdoll direction + Quaternion rightArmRot = Quaternion.FromToRotation(dir, rightHandTarget.position - headTarget.position); + // Rotate the right arm by that offset + ik.references.rightUpperArm.rotation = Quaternion.Lerp(Quaternion.identity, rightArmRot, weight) * ik.references.rightUpperArm.rotation; + + Quaternion leftLegRot = Quaternion.FromToRotation(dir, leftFootTarget.position - bodyTarget.position); + ik.references.leftThigh.rotation = Quaternion.Lerp(Quaternion.identity, leftLegRot, weight) * ik.references.leftThigh.rotation; + + Quaternion rightLegRot = Quaternion.FromToRotation(dir, rightFootTarget.position - bodyTarget.position); + ik.references.rightThigh.rotation = Quaternion.Lerp(Quaternion.identity, rightLegRot, weight) * ik.references.rightThigh.rotation; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs.meta new file mode 100644 index 00000000..83c2519a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PendulumExample.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a4e2a7601da0546edbfe147eb9f95826 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs new file mode 100644 index 00000000..7ea278a8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs @@ -0,0 +1,159 @@ +using UnityEngine; +using System.Collections; +using RootMotion; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Picking up an arbitrary object with both hands. + /// + public abstract class PickUp2Handed : MonoBehaviour { + + // GUI for testing + public int GUIspace; + + void OnGUI() { + GUILayout.BeginHorizontal(); + GUILayout.Space(GUIspace); + + if (!holding) { + + if (GUILayout.Button("Pick Up " + obj.name)) { + interactionSystem.StartInteraction(FullBodyBipedEffector.LeftHand, obj, false); + interactionSystem.StartInteraction(FullBodyBipedEffector.RightHand, obj, false); + } + + } else { + GUILayout.BeginVertical(); + if (holdingRight) + { + if (GUILayout.Button("Release Right")) + { + interactionSystem.ResumeInteraction(FullBodyBipedEffector.RightHand); + } + } + if (holdingLeft) + { + if (GUILayout.Button("Release Left")) + { + interactionSystem.ResumeInteraction(FullBodyBipedEffector.LeftHand); + } + } + if (GUILayout.Button("Drop " + obj.name)) { + interactionSystem.ResumeAll(); + } + GUILayout.EndVertical(); + } + + GUILayout.EndHorizontal(); + } + + protected abstract void RotatePivot(); + + public InteractionSystem interactionSystem; // The InteractionSystem of the character + public InteractionObject obj; // The object to pick up + public Transform pivot; // The pivot point of the hand targets + public Transform holdPoint; // The point where the object will lerp to when picked up + public float pickUpTime = 0.3f; // Maximum lerp speed of the object. Decrease this value to give the object more weight + + private float holdWeight, holdWeightVel; + private Vector3 pickUpPosition; + private Quaternion pickUpRotation; + + void Start() { + // Listen to interaction events + interactionSystem.OnInteractionStart += OnStart; + interactionSystem.OnInteractionPause += OnPause; + interactionSystem.OnInteractionResume += OnDrop; + } + + // Called by the InteractionSystem when an interaction is paused (on trigger) + private void OnPause(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (effectorType != FullBodyBipedEffector.LeftHand) return; + if (interactionObject != obj) return; + + // Make the object inherit the character's movement + obj.transform.parent = interactionSystem.transform; + + // Make the object kinematic + var r = obj.GetComponent(); + if (r != null) r.isKinematic = true; + + // Set object pick up position and rotation to current + pickUpPosition = obj.transform.position; + pickUpRotation = obj.transform.rotation; + holdWeight = 0f; + holdWeightVel = 0f; + } + + // Called by the InteractionSystem when an interaction starts + private void OnStart(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (effectorType != FullBodyBipedEffector.LeftHand) return; + if (interactionObject != obj) return; + + // Rotate the hold point so it matches the current rotation of the object + holdPoint.rotation = obj.transform.rotation; + + // Rotate the pivot of the hand targets + RotatePivot(); + } + + // Called by the InteractionSystem when an interaction is resumed from being paused + private void OnDrop(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (holding) return; + if (interactionObject != obj) return; + + // Make the object independent of the character + obj.transform.parent = null; + + // Turn on physics for the object + if (obj.GetComponent() != null) obj.GetComponent().isKinematic = false; + } + + void LateUpdate() { + if (holding) { + // Smoothing in the hold weight + holdWeight = Mathf.SmoothDamp(holdWeight, 1f, ref holdWeightVel, pickUpTime); + + // Interpolation + obj.transform.position = Vector3.Lerp(pickUpPosition, holdPoint.position, holdWeight); + obj.transform.rotation = Quaternion.Lerp(pickUpRotation, holdPoint.rotation, holdWeight); + } + } + + // Are we currently holding the object? + private bool holding { + get { + return holdingLeft || holdingRight; + } + } + + // Are we currently holding the object with left hand? + private bool holdingLeft + { + get + { + return interactionSystem.IsPaused(FullBodyBipedEffector.LeftHand) && interactionSystem.GetInteractionObject(FullBodyBipedEffector.LeftHand) == obj; + } + } + + // Are we currently holding the object with right hand? + private bool holdingRight + { + get + { + return interactionSystem.IsPaused(FullBodyBipedEffector.RightHand) && interactionSystem.GetInteractionObject(FullBodyBipedEffector.RightHand) == obj; + } + } + + // Clean up delegates + void OnDestroy() { + if (interactionSystem == null) return; + + interactionSystem.OnInteractionStart -= OnStart; + interactionSystem.OnInteractionPause -= OnPause; + interactionSystem.OnInteractionResume -= OnDrop; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs.meta new file mode 100644 index 00000000..2a245f12 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUp2Handed.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 15d5147941ecd4e3d9c2d98b880da82b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs new file mode 100644 index 00000000..73cf9839 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs @@ -0,0 +1,34 @@ +using UnityEngine; +using System.Collections; +using RootMotion; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Picking up a box shaped object with both hands. + /// + public class PickUpBox : PickUp2Handed { + + // Rotate the pivot of the hand targets by 90 degrees so we could grab the object from any direction + protected override void RotatePivot() { + // Get the flat direction towards the character + Vector3 characterDirection = (pivot.position - interactionSystem.transform.position).normalized; + characterDirection.y = 0f; + + // Convert the direction to local space of the object + Vector3 characterDirectionLocal = obj.transform.InverseTransformDirection(characterDirection); + + // QuaTools.GetAxis returns a 90 degree ortographic axis for any direction + Vector3 axis = QuaTools.GetAxis(characterDirectionLocal); + Vector3 upAxis = QuaTools.GetAxis(obj.transform.InverseTransformDirection(interactionSystem.transform.up)); + + // Rotate towards axis and upAxis + pivot.localRotation = Quaternion.LookRotation(axis, upAxis); + + // Match rotation of pivot to character rotation (added in v2.2) + Quaternion q = RootMotion.QuaTools.FromToRotation(pivot.rotation, interactionSystem.transform.rotation); + holdPoint.rotation = q * holdPoint.rotation; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs.meta new file mode 100644 index 00000000..c6de7700 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpBox.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f830b95040b7b41b48d41e56de363dfe +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs new file mode 100644 index 00000000..ae8f2b88 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs @@ -0,0 +1,25 @@ +using UnityEngine; +using System.Collections; +using RootMotion; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Picking up a sphere with both hands. + /// + public class PickUpSphere : PickUp2Handed { + + // Rotate the pivot of the hand targets so we could grab the object from any direction + protected override void RotatePivot() { + // Find the center of the hand bones + Vector3 handsCenter = Vector3.Lerp(interactionSystem.ik.solver.leftHandEffector.bone.position, interactionSystem.ik.solver.rightHandEffector.bone.position, 0.5f); + + // Direction from that center to the interaction object + Vector3 dir = obj.transform.position - handsCenter; + + // Rotate the pivot of the hand targets + pivot.rotation = Quaternion.LookRotation(dir); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs.meta new file mode 100644 index 00000000..93767b54 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/PickUpSphere.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d97cb37f537ae4749a8c8eeb8e918335 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs new file mode 100644 index 00000000..40f6d196 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs @@ -0,0 +1,33 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + // Demonstrating the use of RagdollUtility.cs. + public class RagdollUtilityDemo : MonoBehaviour { + + public RagdollUtility ragdollUtility; + public Transform root; + public Rigidbody pelvis; + + void OnGUI() { + GUILayout.Label(" Press R to switch to ragdoll. " + + "\n Weigh in one of the FBBIK effectors to make kinematic changes to the ragdoll pose." + + "\n A to blend back to animation"); + } + + void Update() { + if (Input.GetKeyDown(KeyCode.R)) ragdollUtility.EnableRagdoll(); + if (Input.GetKeyDown(KeyCode.A)) { + // Move the root of the character to where the pelvis is without moving the ragdoll + Vector3 toPelvis = pelvis.position - root.position; + root.position += toPelvis; + pelvis.transform.position -= toPelvis; + + ragdollUtility.DisableRagdoll(); + } + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs.meta new file mode 100644 index 00000000..ca7fe2d7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RagdollUtilityDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 73d9168c07539433286485f01c12bf23 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs new file mode 100644 index 00000000..51e553cf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs @@ -0,0 +1,29 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Just for testing out the Recoil script. + /// + public class RecoilTest : MonoBehaviour { + + public float magnitude = 1f; + + private Recoil recoil; + + void Start() { + recoil = GetComponent(); + } + + void Update() { + if (Input.GetKeyDown(KeyCode.R) || Input.GetMouseButtonDown(0)) recoil.Fire(magnitude); + } + + void OnGUI() { + GUILayout.Label("Press R or LMB for procedural recoil."); + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs.meta new file mode 100644 index 00000000..c0bd5e48 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/RecoilTest.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: e57aceae1698147d69f2012c0956d475 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs new file mode 100644 index 00000000..e93d4b9c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs @@ -0,0 +1,52 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Resets an interaction object to its initial position and rotation after "resetDelay" from interaction trigger. + /// + public class ResetInteractionObject : MonoBehaviour { + + public float resetDelay = 1f; // Time since interaction trigger to reset this Transform + + private Vector3 defaultPosition; + private Quaternion defaultRotation; + private Transform defaultParent; + private Rigidbody r; + + void Start() { + // Store the defaults + defaultPosition = transform.position; + defaultRotation = transform.rotation; + defaultParent = transform.parent; + + r = GetComponent(); + } + + // Called by the Interaction Object + void OnPickUp(Transform t) { + if (!enabled) return; + StopAllCoroutines(); + StartCoroutine(ResetObject(Time.time + resetDelay)); + } + + // Reset after a certain delay + private IEnumerator ResetObject(float resetTime) { + while (Time.time < resetTime) yield return null; + + var poser = transform.parent.GetComponent(); + if (poser != null) { + poser.poseRoot = null; + poser.weight = 0f; + } + + transform.parent = defaultParent; + transform.position = defaultPosition; + transform.rotation = defaultRotation; + + if (r != null) r.isKinematic = false; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs.meta new file mode 100644 index 00000000..4b2ae621 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/ResetInteractionObject.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 08f23f958fb674118b480dde5c371a3a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs new file mode 100644 index 00000000..248b7f24 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs @@ -0,0 +1,37 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + public class SoccerDemo : MonoBehaviour { + + private Animator animator; + private Vector3 defaultPosition; + private Quaternion defaultRotation; + + void Start () { + animator = GetComponent(); + + // Remember the default position and rotation of the character + defaultPosition = transform.position; + defaultRotation = transform.rotation; + + StartCoroutine(ResetDelayed()); + } + + // Reset the character after some time and restart the animation + private IEnumerator ResetDelayed() { + while (true) { + yield return new WaitForSeconds(3f); + + transform.position = defaultPosition; + transform.rotation = defaultRotation; + + animator.CrossFade("SoccerKick", 0f, 0, 0f); + + yield return null; + } + + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs.meta new file mode 100644 index 00000000..754e8099 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/SoccerDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: bc23dc714ba34439baef55424d701225 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs new file mode 100644 index 00000000..fc5d6d9d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs @@ -0,0 +1,188 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Demo script for using the Interaction System for touching scene geometry. + /// + public class TouchWalls : MonoBehaviour { + + /// + /// Touching functionality for an effector + /// + [System.Serializable] + public class EffectorLink { + public bool enabled = true; // Can this effector start touching? + public FullBodyBipedEffector effectorType; // The type of the effector + public InteractionObject interactionObject; // The touch interaction object + public Transform spherecastFrom; // The bone to start the sperecast from + public float spherecastRadius = 0.1f; // The radius of sperecasting + public float minDistance = 0.3f; // The minimum spherecast radius to touch + public float distanceMlp = 1f; // Multiplies the distance of the spherecast + public LayerMask touchLayers; // The layers to touch + public float lerpSpeed = 10f; // The speed of lerping the interaction object + public float minSwitchTime = 0.2f; // The minimum time to switch between touching + public float releaseDistance= 0.4f; // The distance from the original touch point where the effector will lose contact + public bool sliding; // Can the effector slide smoothly over the surfaces? + + private Vector3 raycastDirectionLocal; + private float raycastDistance; + private bool inTouch; + private RaycastHit hit = new RaycastHit(); + private Vector3 targetPosition; + private Quaternion targetRotation; + private bool initiated; + private float nextSwitchTime; + private float speedF; + + // Initiate this instance + public void Initiate(InteractionSystem interactionSystem) { + // Find the direction to the interaction objet relative to the sperecastFrom Transform + raycastDirectionLocal = spherecastFrom.InverseTransformDirection(interactionObject.transform.position - spherecastFrom.position); + + // Find the max distance the sperecast + raycastDistance = Vector3.Distance(spherecastFrom.position, interactionObject.transform.position); + + // Add to the interaction system delegates + interactionSystem.OnInteractionStart += OnInteractionStart; + interactionSystem.OnInteractionResume += OnInteractionResume; + interactionSystem.OnInteractionStop += OnInteractionStop; + + hit.normal = Vector3.forward; + targetPosition = interactionObject.transform.position; + targetRotation = interactionObject.transform.rotation; + + initiated = true; + } + + // Spherecasting to find the walls + private bool FindWalls(Vector3 direction) { + if (!enabled) return false; + bool found = Physics.SphereCast(spherecastFrom.position, spherecastRadius, direction, out hit, raycastDistance * distanceMlp, touchLayers); + + if (hit.distance < minDistance) found = false; + return found; + } + + // Update this instance + public void Update(InteractionSystem interactionSystem) { + if (!initiated) return; + + // The default position + Vector3 direction = spherecastFrom.TransformDirection(raycastDirectionLocal); + hit.point = spherecastFrom.position + direction; + + // Spherecasting + bool wallFound = FindWalls(direction); + + // Starting and ending the interactions + if (!inTouch) { + if (wallFound && Time.time > nextSwitchTime) { + interactionObject.transform.parent = null; + interactionSystem.StartInteraction(effectorType, interactionObject, true); + nextSwitchTime = Time.time + minSwitchTime / interactionSystem.speed; + + targetPosition = hit.point; + targetRotation = Quaternion.LookRotation(-hit.normal); + + interactionObject.transform.position = targetPosition; + interactionObject.transform.rotation = targetRotation; + } + } else { + if (!wallFound) { + // Resume if no wall found + StopTouch(interactionSystem); + } else { + if (!interactionSystem.IsPaused(effectorType) || sliding) { + targetPosition = hit.point; + targetRotation = Quaternion.LookRotation(-hit.normal); + } + } + + if (Vector3.Distance(interactionObject.transform.position, hit.point) > releaseDistance) { + if (wallFound) { + targetPosition = hit.point; + targetRotation = Quaternion.LookRotation(-hit.normal); + } else { + StopTouch(interactionSystem); + } + } + } + + float speedFTarget = !inTouch || (interactionSystem.IsPaused(effectorType) && interactionObject.transform.position == targetPosition)? 0f: 1f; + speedF = Mathf.Lerp(speedF, speedFTarget, Time.deltaTime * 3f * interactionSystem.speed); + + // Interpolating the interaction object + float s = Time.deltaTime * lerpSpeed * speedF * interactionSystem.speed; + interactionObject.transform.position = Vector3.Lerp(interactionObject.transform.position, targetPosition, s); + interactionObject.transform.rotation = Quaternion.Slerp(interactionObject.transform.rotation, targetRotation, s); + } + + // Stop touching the walls + private void StopTouch(InteractionSystem interactionSystem) { + interactionObject.transform.parent = interactionSystem.transform; + nextSwitchTime = Time.time + minSwitchTime / interactionSystem.speed; + + if (interactionSystem.IsPaused(effectorType)) interactionSystem.ResumeInteraction(effectorType); + else { + speedF = 0f; + targetPosition = hit.point; + if (hit.normal != Vector3.zero) targetRotation = Quaternion.LookRotation(-hit.normal); + } + } + + // Called by the interaction system + private void OnInteractionStart(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (effectorType != this.effectorType || interactionObject != this.interactionObject) return; + + inTouch = true; + } + + // Called by the interaction system + private void OnInteractionResume(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (effectorType != this.effectorType || interactionObject != this.interactionObject) return; + + inTouch = false; + } + + // Called by the interaction system + private void OnInteractionStop(FullBodyBipedEffector effectorType, InteractionObject interactionObject) { + if (effectorType != this.effectorType || interactionObject != this.interactionObject) return; + + inTouch = false; + } + + // Cleaning up the delegates + public void Destroy(InteractionSystem interactionSystem) { + if (!initiated) return; + + interactionSystem.OnInteractionStart -= OnInteractionStart; + interactionSystem.OnInteractionResume -= OnInteractionResume; + interactionSystem.OnInteractionStop -= OnInteractionStop; + } + } + + public InteractionSystem interactionSystem; // Reference to the interaciton sytem of the character + public EffectorLink[] effectorLinks; // The wall touching effectors + + // Initiate the effector links + void Start() { + foreach (EffectorLink e in effectorLinks) e.Initiate(interactionSystem); + } + + // Update touching + void FixedUpdate() { + for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Update(interactionSystem); + } + + // Clean up the delegates + void OnDestroy() { + if (interactionSystem != null) { + for (int i = 0; i < effectorLinks.Length; i++) effectorLinks[i].Destroy(interactionSystem); + } + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs.meta new file mode 100644 index 00000000..375ea021 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TouchWalls.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 297254b376ff546e7963a77deeba8787 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs new file mode 100644 index 00000000..3ecc180d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs @@ -0,0 +1,33 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Transfer motion from this Transform to the "to" Transform. + /// + public class TransferMotion : MonoBehaviour { + + [Tooltip("The Transform to transfer motion to.")] + public Transform to; + + [Tooltip("The amount of motion to transfer.")] + [Range(0f, 1f)] public float transferMotion = 0.9f; + + private Vector3 lastPosition; + + void OnEnable() { + lastPosition = transform.position; + } + + void Update() { + Vector3 delta = transform.position - lastPosition; + + // Add the position delta of this Transform to the other Transform + to.position += delta * transferMotion; + + lastPosition = transform.position; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs.meta new file mode 100644 index 00000000..0e389ad0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TransferMotion.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c04b635d86be14966ba65dfbaabb0571 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs new file mode 100644 index 00000000..f4606dbc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs @@ -0,0 +1,59 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + // Targeting hands to 2-handed props with the FullBodyBipedIK component. It is not good to parent IK targets directly to the bones that use IK (circular dependency). + // The bones are moved in the solving process, but it will not update the IK targets parented to the bones. All IK target positions/rotations need to be set before the solver updates. + public class TwoHandedProp : MonoBehaviour { + + [Range(0f, 1f)] public float weight = 1f; + [Tooltip("The left hand target parented to the right hand.")] public Transform leftHandTarget; + [Tooltip("Left hand poser (poses fingers to match the left hand target).")] public Poser leftHandPoser; + [Tooltip("The weight of pinning the left hand to the prop.")] [Range(0f, 1f)] public float leftHandWeight = 1f; + + private FullBodyBipedIK ik; + private Vector3 targetPosRelativeToRight; + private Quaternion targetRotRelativeToRight; + + void Start() { + ik = GetComponent(); + + // Get a call from FBBIK each time it has finished updating + ik.solver.OnPostUpdate += AfterFBBIK; + + if (ik.solver.rightHandEffector.target == null) Debug.LogError("Right Hand Effector needs a Target in this demo."); + } + + void LateUpdate() { + // Get the position/rotation of the left hand target relative to the right hand. + targetPosRelativeToRight = ik.references.rightHand.InverseTransformPoint(leftHandTarget.position); + targetRotRelativeToRight = Quaternion.Inverse(ik.references.rightHand.rotation) * leftHandTarget.rotation; + + // Set the position/rotation of the left hand target relative to the right hand effector target. + ik.solver.leftHandEffector.position = ik.solver.rightHandEffector.target.position + ik.solver.rightHandEffector.target.rotation * targetPosRelativeToRight; + ik.solver.leftHandEffector.rotation = ik.solver.rightHandEffector.target.rotation * targetRotRelativeToRight; + + // Weights + ik.solver.rightHandEffector.positionWeight = weight; + + float wL = leftHandWeight * weight; + ik.solver.leftHandEffector.positionWeight = wL; + leftHandPoser.weight = wL; + } + + // Called by FBBIK after it updates + void AfterFBBIK() { + // Rotate the hand bones to effector.rotation directly instead of using effector.rotationWeight that might fail to get the limb bending right under some circumstances + ik.solver.leftHandEffector.bone.rotation = Quaternion.Slerp(ik.solver.leftHandEffector.bone.rotation, ik.solver.leftHandEffector.rotation, leftHandWeight * weight); + + ik.solver.rightHandEffector.bone.rotation = Quaternion.Slerp(ik.solver.rightHandEffector.bone.rotation, ik.solver.rightHandEffector.rotation, weight); + } + + // Clean up the delegate + void OnDestroy() { + if (ik != null) ik.solver.OnPostUpdate -= AfterFBBIK; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs.meta new file mode 100644 index 00000000..c0baea19 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/TwoHandedProp.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 117a949b668c14c44962eebac775f62c +timeCreated: 1467790043 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/UserControlInteractions.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/UserControlInteractions.cs new file mode 100644 index 00000000..ed983b87 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/FBBIK/Scripts/UserControlInteractions.cs @@ -0,0 +1,69 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// User control demo for Interaction Triggers. + /// + public class UserControlInteractions : UserControlThirdPerson { + + public CharacterThirdPerson character; + public InteractionSystem interactionSystem; // Reference to the InteractionSystem of the character + public bool disableInputInInteraction = true; // If true, will keep the character stopped while an interaction is in progress + public float enableInputAtProgress = 0.8f; // The normalized interaction progress after which the character is able to move again + + protected override void Update() { + // Disable input when in interaction + if (disableInputInInteraction && interactionSystem != null && (interactionSystem.inInteraction || interactionSystem.IsPaused())) { + + // Get the least interaction progress + float progress = interactionSystem.GetMinActiveProgress(); + + // Keep the character in place + if (progress > 0f && progress < enableInputAtProgress) { + state.move = Vector3.zero; + state.jump = false; + return; + } + } + + // Pass on the FixedUpdate call + base.Update(); + } + + // Triggering the interactions + void OnGUI() { + // If jumping or falling, do nothing + if (!character.onGround) return; + + // If an interaction is paused, resume on user input + if (interactionSystem.IsPaused() && interactionSystem.IsInSync()) { + GUILayout.Label("Press E to resume interaction"); + + if 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GameObject[] characters; + + void OnGUI() { + if (GUILayout.Button("Biped")) Activate(0); + if (GUILayout.Button("Quadruped")) Activate(1); + if (GUILayout.Button("Mech")) Activate(2); + if (GUILayout.Button("Bot")) Activate(3); + } + + public void Activate(int index) { + for (int i = 0; i < characters.Length; i++) { + characters[i].SetActive(i == index); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/GrounderDemo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/GrounderDemo.cs.meta new file mode 100644 index 00000000..dff307c4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/GrounderDemo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 346478b546ea64b679852b70720f60c2 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/PlatformRotator.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/PlatformRotator.cs new file mode 100644 index 00000000..11a0c9ba --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/PlatformRotator.cs @@ -0,0 +1,81 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Moving and rotating platforms. + /// + public class PlatformRotator : MonoBehaviour { + + public float maxAngle = 70f; // Maximum angular offset from the default rotation + public float switchRotationTime = 0.5f; // Base time for switching to another target rotation + public float random = 0.5f; // The random mlp for timers + public float rotationSpeed = 50f; // The slerp speed + public Vector3 movePosition; // Move to offset + public float moveSpeed = 5f; // Moving speed + public int characterLayer; // Which layer are the characters on? + + private Quaternion defaultRotation; + private Quaternion targetRotation; + private Vector3 targetPosition; + private Vector3 velocity; + private Rigidbody r; + + void Start () { + // Store defaults + defaultRotation = transform.rotation; + targetPosition = transform.position + movePosition; + + r = GetComponent(); + + // Start switching target rotations + StartCoroutine(SwitchRotation()); + } + + void FixedUpdate() { + // Moving + r.MovePosition(Vector3.SmoothDamp(r.position, targetPosition, ref velocity, 1f, moveSpeed)); + + if (Vector3.Distance(GetComponent().position, targetPosition) < 0.1f) { + movePosition = -movePosition; + targetPosition += movePosition; + } + + // Rotating + r.MoveRotation(Quaternion.RotateTowards(r.rotation, targetRotation, rotationSpeed * Time.deltaTime)); + } + + // Switching the target rotation + private IEnumerator SwitchRotation() { + while (true) { + // Random rotation around a random axis + float angle = UnityEngine.Random.Range(-maxAngle, maxAngle); + Vector3 axis = UnityEngine.Random.onUnitSphere; + targetRotation = Quaternion.AngleAxis(angle, axis) * defaultRotation; + + yield return new WaitForSeconds(switchRotationTime + UnityEngine.Random.value * random); + } + } + + // Disable fixed time step smoothing on the characters that hit this platform + void OnCollisionEnter(Collision collision) { + if (collision.gameObject.layer == characterLayer) { + CharacterThirdPerson c = collision.gameObject.GetComponent(); + if (c == null) return; + if (c.smoothPhysics) { + c.smoothPhysics = false; + } + } + } + + // Re-enable fixed time step smoothing on the characters that exited this platform + void OnCollisionExit(Collision collision) { + if (collision.gameObject.layer == characterLayer) { + CharacterThirdPerson c = collision.gameObject.GetComponent(); + if (c == null) return; + c.smoothPhysics = true; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Grounder/Scripts/PlatformRotator.cs.meta 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Attach this to a GameObject that you want the limb to bend towards. + /// + public class BendGoal : MonoBehaviour { + + public LimbIK limbIK; // reference to the LimbIK component + [Range(0f, 1f)] + public float weight = 1f; + + void Start() { + Debug.Log("BendGoal is deprecated, you can now a bend goal from the custom inspector of the LimbIK component."); + } + + void LateUpdate () { + if (limbIK == null) return; + + // Set LimbIK bend goal position to myself + limbIK.solver.SetBendGoalPosition(transform.position, weight); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Limb IK/Scripts/BendGoal.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Limb IK/Scripts/BendGoal.cs.meta new file mode 100644 index 00000000..808b1ec7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/Limb IK/Scripts/BendGoal.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: f0700f2a769ec49a598a1503c9f4ae13 +MonoImporter: + 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All it does is call Transform.LookAt on each part and apply rotation limits one by one, starting from the parent. + /// + public class Turret : MonoBehaviour { + + /// + /// An independent part of the turret + /// + [System.Serializable] + public class Part { + + public Transform transform; // The Transform + private RotationLimit rotationLimit; // The Rotation Limit component + + // Aim this part at the target + public void AimAt(Transform target) { + transform.LookAt(target.position, transform.up); + + // Finding the Rotation Limit + if (rotationLimit == null) { + rotationLimit = transform.GetComponent(); + rotationLimit.Disable(); + } + + // Apply rotation limits + rotationLimit.Apply(); + } + } + + public Transform target; // The aiming target + public Part[] parts; // All the turret parts + + void Update() { + // Rotate the turret parts one by one + foreach (Part part in parts) part.AimAt(target); + } + } +} diff --git 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+licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts.meta new file mode 100644 index 00000000..b6824484 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 9f8504c17081a0a44ac16c48a54aa8bb +folderAsset: yes +timeCreated: 1483525185 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs new file mode 100644 index 00000000..41835e5a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs @@ -0,0 +1,40 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + /// + /// Triggering Hit Reactions on mouse button. + /// + public class HitReactionVRIKTrigger: MonoBehaviour { + + public HitReactionVRIK hitReaction; + public float hitForce = 1f; + + private string colliderName; + + void Update() { + // On left mouse button... + if (Input.GetMouseButtonDown(0)) { + Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition); + + // Raycast to find a ragdoll collider + RaycastHit hit = new RaycastHit(); + if (Physics.Raycast(ray, out hit, 100f)) { + + // Use the HitReaction + hitReaction.Hit(hit.collider, ray.direction * hitForce, hit.point); + + // Just for GUI + colliderName = hit.collider.name; + } + } + } + + void OnGUI() { + GUILayout.Label("LMB to shoot the Dummy, RMB to rotate the camera."); + if (colliderName != string.Empty) GUILayout.Label("Last Bone Hit: " + colliderName); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs.meta new file mode 100644 index 00000000..22c5dabf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/HitReactionVRIKTrigger.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 4306e26e5aa733b4884914d17211dac5 +timeCreated: 1514033475 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs new file mode 100644 index 00000000..e671c9c3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs @@ -0,0 +1,82 @@ +using UnityEngine; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + // Moving the demo VR character controller. + public class VRController : MonoBehaviour + { + + [System.Serializable] + public enum InputMode + { + Input = 0, + WASDOnly = 1, + } + + public InputMode inputMode; + public VRIK ik; + public Transform centerEyeAnchor; + + // Match these values to velocities in the locomotion animation blend tree for better looking results (avoids half-blends) + public float walkSpeed = 1f; + public float runSpeed = 3f; + public float walkForwardSpeedMlp = 1f; + public float runForwardSpeedMlp = 1f; + + private Vector3 smoothInput, smoothInputV; + + private void Update() + { + // Get input + Vector3 input = GetInput(); + input *= ik.solver.scale; + + float fDot = Vector3.Dot(input, Vector3.forward); + bool f = fDot > 0f; + + // Locomotion speed + float s = walkSpeed; + + if (Input.GetKey(KeyCode.LeftShift)) + { + s = runSpeed; + if (f) s *= runForwardSpeedMlp; // Walk faster/slower when moving forward + } else + { + if (f) s *= walkForwardSpeedMlp; // Run faster/slower when moving forward + } + + // Input smoothing + smoothInput = Vector3.SmoothDamp(smoothInput, input * s, ref smoothInputV, 0.1f); + + // Rotate input to avatar space + Vector3 forward = centerEyeAnchor.forward; + forward.y = 0f; + Quaternion avatarSpace = Quaternion.LookRotation(forward); + + // Apply + transform.position += avatarSpace * smoothInput * Time.deltaTime; + } + + // Returns keyboard/thumbstick input vector + private Vector3 GetInput() + { + switch (inputMode) + { + case InputMode.Input: + Vector3 v = new Vector3(Input.GetAxisRaw("Horizontal"), 0f, Input.GetAxisRaw("Vertical")); + if (v.sqrMagnitude < 0.3f) return Vector3.zero; + return v.normalized; + case InputMode.WASDOnly: + Vector3 input = Vector3.zero; + if (Input.GetKey(KeyCode.W)) input += Vector3.forward; + if (Input.GetKey(KeyCode.S)) input += Vector3.back; + if (Input.GetKey(KeyCode.A)) input += Vector3.left; + if (Input.GetKey(KeyCode.D)) input += Vector3.right; + return input.normalized; + default: return Vector3.zero; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs.meta new file mode 100644 index 00000000..74e5ad67 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRController.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 477067c91bad4404790bb7ed5ce59601 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs new file mode 100644 index 00000000..84c9c1b4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs @@ -0,0 +1,47 @@ +using UnityEngine; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + /// + /// Makes VRIK work with elbow targets at a cost of reduced hand accuracy. + /// + public class VRIKArmMocap : MonoBehaviour + { + + public VRIK ik; + public Transform leftElbowTarget; + public Transform rightElbowTarget; + + void Start() + { + // Register to get a call from VRIK after it updates + ik.solver.OnPostUpdate += AfterVRIK; + } + + void AfterVRIK() + { + // This is called by VRIK each time it is done updating for the frame + UpdateArm(ik.references.leftUpperArm, ik.references.leftForearm, ik.references.leftHand, leftElbowTarget, ik.solver.leftArm.target); + UpdateArm(ik.references.rightUpperArm, ik.references.rightForearm, ik.references.rightHand, rightElbowTarget, ik.solver.rightArm.target); + } + + private static void UpdateArm(Transform upperArm, Transform forearm, Transform hand, Transform elbowTarget, Transform handTarget) + { + if (elbowTarget == null) return; + if (handTarget == null) return; + + // Rotate the upper arm towards the elbow target. + upperArm.rotation = Quaternion.FromToRotation(forearm.position - upperArm.position, elbowTarget.position - upperArm.position) * upperArm.rotation; + + // Rotate the forearm towards the hand target + forearm.rotation = Quaternion.FromToRotation(hand.position - forearm.position, handTarget.position - forearm.position) * forearm.rotation; + } + + void OnDestroy() + { + // Clean up + if (ik != null) ik.solver.OnPostUpdate -= AfterVRIK; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs.meta new file mode 100644 index 00000000..8247841f --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKArmMocap.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 6dd78a58cae96804baf3bbd2bd73caf1 +timeCreated: 1542280405 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs new file mode 100644 index 00000000..df80bf52 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs @@ -0,0 +1,68 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + + public class VRIKCalibrationBasic : MonoBehaviour + { + + [Tooltip("The VRIK component.")] public VRIK ik; + + [Header("Head")] + [Tooltip("HMD.")] public Transform centerEyeAnchor; + [Tooltip("Position offset of the camera from the head bone (root space).")] public Vector3 headAnchorPositionOffset; + [Tooltip("Rotation offset of the camera from the head bone (root space).")] public Vector3 headAnchorRotationOffset; + + [Header("Hands")] + [Tooltip("Left Hand Controller")] public Transform leftHandAnchor; + [Tooltip("Right Hand Controller")] public Transform rightHandAnchor; + [Tooltip("Position offset of the hand controller from the hand bone (controller space).")] public Vector3 handAnchorPositionOffset; + [Tooltip("Rotation offset of the hand controller from the hand bone (controller space).")] public Vector3 handAnchorRotationOffset; + + [Header("Scale")] + [Tooltip("Multiplies the scale of the root.")] public float scaleMlp = 1f; + + [Header("Data stored by Calibration")] + public VRIKCalibrator.CalibrationData data = new VRIKCalibrator.CalibrationData(); + + private void LateUpdate() + { + if (Input.GetKeyDown(KeyCode.C)) + { + // Calibrate the character, store data of the calibration + data = VRIKCalibrator.Calibrate(ik, centerEyeAnchor, leftHandAnchor, rightHandAnchor, headAnchorPositionOffset, headAnchorRotationOffset, handAnchorPositionOffset, handAnchorRotationOffset, scaleMlp); + } + + /* + * calling Calibrate with settings will return a VRIKCalibrator.CalibrationData, which can be used to calibrate that same character again exactly the same in another scene (just pass data instead of settings), + * without being dependent on the pose of the player at calibration time. + * Calibration data still depends on bone orientations though, so the data is valid only for the character that it was calibrated to or characters with identical bone structures. + * If you wish to use more than one character, it would be best to calibrate them all at once and store the CalibrationData for each one. + * */ + if (Input.GetKeyDown(KeyCode.D)) + { + if (data.scale == 0f) + { + Debug.LogError("No Calibration Data to calibrate to, please calibrate with 'C' first."); + } + else + { + VRIKCalibrator.Calibrate(ik, data, centerEyeAnchor, null, leftHandAnchor, rightHandAnchor); + } + } + + // Recalibrates avatar scale only. Can be called only if the avatar has been calibrated already. + if (Input.GetKeyDown(KeyCode.S)) + { + if (data.scale == 0f) + { + Debug.LogError("Avatar needs to be calibrated before RecalibrateScale is called."); + } + VRIKCalibrator.RecalibrateScale(ik, data, scaleMlp); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs.meta new file mode 100644 index 00000000..3a37edf3 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationBasic.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1885d47f6086b6640ac7f1e1d1137642 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs new file mode 100644 index 00000000..23fb5b28 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs @@ -0,0 +1,61 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + + public class VRIKCalibrationController : MonoBehaviour + { + + [Tooltip("Reference to the VRIK component on the avatar.")] public VRIK ik; + [Tooltip("The settings for VRIK calibration.")] public VRIKCalibrator.Settings settings; + [Tooltip("The HMD.")] public Transform headTracker; + [Tooltip("(Optional) A tracker placed anywhere on the body of the player, preferrably close to the pelvis, on the belt area.")] public Transform bodyTracker; + [Tooltip("(Optional) A tracker or hand controller device placed anywhere on or in the player's left hand.")] public Transform leftHandTracker; + [Tooltip("(Optional) A tracker or hand controller device placed anywhere on or in the player's right hand.")] public Transform rightHandTracker; + [Tooltip("(Optional) A tracker placed anywhere on the ankle or toes of the player's left leg.")] public Transform leftFootTracker; + [Tooltip("(Optional) A tracker placed anywhere on the ankle or toes of the player's right leg.")] public Transform rightFootTracker; + + [Header("Data stored by Calibration")] + public VRIKCalibrator.CalibrationData data = new VRIKCalibrator.CalibrationData(); + + void LateUpdate() + { + if (Input.GetKeyDown(KeyCode.C)) + { + // Calibrate the character, store data of the calibration + data = VRIKCalibrator.Calibrate(ik, settings, headTracker, bodyTracker, leftHandTracker, rightHandTracker, leftFootTracker, rightFootTracker); + } + + /* + * calling Calibrate with settings will return a VRIKCalibrator.CalibrationData, which can be used to calibrate that same character again exactly the same in another scene (just pass data instead of settings), + * without being dependent on the pose of the player at calibration time. + * Calibration data still depends on bone orientations though, so the data is valid only for the character that it was calibrated to or characters with identical bone structures. + * If you wish to use more than one character, it would be best to calibrate them all at once and store the CalibrationData for each one. + * */ + if (Input.GetKeyDown(KeyCode.D)) + { + if (data.scale == 0f) + { + Debug.LogError("No Calibration Data to calibrate to, please calibrate with settings first."); + } + else + { + // Use data from a previous calibration to calibrate that same character again. + VRIKCalibrator.Calibrate(ik, data, headTracker, bodyTracker, leftHandTracker, rightHandTracker, leftFootTracker, rightFootTracker); + } + } + + // Recalibrates avatar scale only. Can be called only if the avatar has been calibrated already. + if (Input.GetKeyDown(KeyCode.S)) + { + if (data.scale == 0f) + { + Debug.LogError("Avatar needs to be calibrated before RecalibrateScale is called."); + } + VRIKCalibrator.RecalibrateScale(ik, data, settings); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs.meta new file mode 100644 index 00000000..e632c22d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKCalibrationController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 4513e09e0185b9749bc91a9d562d73ff +timeCreated: 1499778808 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs new file mode 100644 index 00000000..a2f706dc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs @@ -0,0 +1,27 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos { + + public class VRIKPlatform : MonoBehaviour { + + public VRIK ik; + + private Vector3 lastPosition; + private Quaternion lastRotation = Quaternion.identity; + + void OnEnable() { + lastPosition = transform.position; + lastRotation = transform.rotation; + } + + void LateUpdate () { + // Adding the motion of this Transform to VRIK + ik.solver.AddPlatformMotion (transform.position - lastPosition, transform.rotation * Quaternion.Inverse(lastRotation), transform.position); + + lastRotation = transform.rotation; + lastPosition = transform.position; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs.meta new file mode 100644 index 00000000..86e06abf --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatform.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 0a74728623a249645880c78a0ec69030 +timeCreated: 1476949826 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatformController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatformController.cs new file mode 100644 index 00000000..f4e8717e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatformController.cs @@ -0,0 +1,58 @@ +using UnityEngine; +using System.Collections; +using RootMotion.FinalIK; + +namespace RootMotion.Demos +{ + + public class VRIKPlatformController : MonoBehaviour + { + + public VRIK ik; + public Transform trackingSpace; + public Transform platform; + public bool moveToPlatform = true; + + private Transform lastPlatform; + private Vector3 lastPosition; + private Quaternion lastRotation = Quaternion.identity; + + void LateUpdate() + { + if (platform != lastPlatform) + { + if (platform != null) + { + // Moves the character to the position/rotation of the new platform + if (moveToPlatform) + { + lastPosition = ik.transform.position; + lastRotation = ik.transform.rotation; + ik.transform.position = platform.position; + ik.transform.rotation = platform.rotation; + trackingSpace.position = platform.position; + trackingSpace.rotation = platform.rotation; + ik.solver.AddPlatformMotion(platform.position - lastPosition, platform.rotation * Quaternion.Inverse(lastRotation), platform.position); + } + + lastPosition = platform.position; + lastRotation = platform.rotation; + } + + ik.transform.parent = platform; + trackingSpace.parent = platform; + + lastPlatform = platform; + } + + if (platform != null) + { + // Adding the motion of this Transform to VRIK + ik.solver.AddPlatformMotion(platform.position - lastPosition, platform.rotation * Quaternion.Inverse(lastRotation), platform.position); + + lastRotation = platform.rotation; + lastPosition = platform.position; + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatformController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/FinalIK/_DEMOS/VRIK/Scripts/VRIKPlatformController.cs.meta new file mode 100644 index 00000000..7ea98ea5 --- /dev/null +++ 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31/BipDummy R Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41/BipDummy R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 0.001 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 0 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 0 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 0 + previousCalculatedGlobalScale: 0.001 + hasPreviousCalculatedGlobalScale: 1 + tangentSpace: + normalSmoothAngle: 60 + normalImportMode: 2 + tangentImportMode: 2 + normalCalculationMode: 0 + legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1 + 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Bone length in + copied configuration does not match position in animation file:\n\t'Bip002 L + Thigh' : position error = 40.468407 mm\n\t'Bip002 R Thigh' : position error + = 38.027374 mm\n" + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar to + improve retargeting quality.\n\t'Bip002 Spine3' is inbetween humanoid transforms + and has rotation animation that will be discarded.\n" + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 2 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Aim MP-40 Standing Breathe + takeName: Take 001 + firstFrame: 0 + lastFrame: 90 + wrapMode: 2 + 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Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41/BipDummy R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 0.001 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 0 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 0 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 0 + 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{x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Toe0 + humanName: RightToes + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine1 + humanName: Spine + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine2 + humanName: Chest + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Clavicle + humanName: RightShoulder + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R UpperArm + humanName: RightUpperArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Forearm + humanName: RightLowerArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Hand + humanName: RightHand + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Head + humanName: Head + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Clavicle + humanName: LeftShoulder + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L UpperArm + humanName: LeftUpperArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Forearm + humanName: LeftLowerArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Hand + humanName: LeftHand + limit: + min: {x: 0, 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Bone length in + copied configuration does not match position in animation file:\n\t'Bip002 L + Thigh' : position error = 40.468407 mm\n\t'Bip002 R Thigh' : position error + = 38.027374 mm\n" + animationImportErrors: + animationImportWarnings: + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 2 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Aim MP-40 Standing Down + takeName: Take 001 + firstFrame: 0 + lastFrame: 5 + wrapMode: 2 + orientationOffsetY: 0 + level: 0 + cycleOffset: 0 + loop: 0 + hasAdditiveReferencePose: 0 + loopTime: 1 + loopBlend: 0 + loopBlendOrientation: 1 + loopBlendPositionY: 1 + loopBlendPositionXZ: 1 + keepOriginalOrientation: 1 + keepOriginalPositionY: 1 + keepOriginalPositionXZ: 1 + 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Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41/BipDummy R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 0.001 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 0 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 0 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 0 + previousCalculatedGlobalScale: 0.001 + hasPreviousCalculatedGlobalScale: 1 + tangentSpace: + normalSmoothAngle: 60 + normalImportMode: 2 + tangentImportMode: 2 + normalCalculationMode: 0 + legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1 + 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Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger1/BipDummy L Finger11/BipDummy L Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21/BipDummy L Finger22 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger3 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31/BipDummy R Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R 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0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger1 + humanName: Left Index Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger11 + humanName: Left Index Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger12 + humanName: Left Index Distal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger2 + humanName: Left Middle Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger21 + humanName: Left Middle Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L 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rootMotionBoneName: + hasTranslationDoF: 0 + hasExtraRoot: 0 + skeletonHasParents: 0 + lastHumanDescriptionAvatarSource: {fileID: 9000000, guid: 959d14bf134f54a6e993fe6ca6e063c0, + type: 3} + animationType: 3 + humanoidOversampling: 1 + additionalBone: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX new file mode 100644 index 00000000..f0b5c335 Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX.meta new file mode 100644 index 00000000..1fe3f622 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Aim MP-40/Aim MP-40 Standing Idle.FBX.meta @@ -0,0 +1,1154 @@ +fileFormatVersion: 2 +guid: 266e8e95875a44f0aa086f6e752b4508 +ModelImporter: + serializedVersion: 23 + fileIDToRecycleName: + 100000: //RootNode + 100002: Bip002 Head + 100004: Bip002 L Calf + 100006: Bip002 L Clavicle + 100008: Bip002 L Finger0 + 100010: Bip002 L Foot + 100012: Bip002 L Forearm + 100014: Bip002 L Hand + 100016: Bip002 L Thigh + 100018: Bip002 L Toe0 + 100020: Bip002 L Toe01 + 100022: Bip002 L Toe02 + 100024: Bip002 L UpperArm + 100026: Bip002 Neck + 100028: Bip002 Pelvis + 100030: Bip002 R Calf + 100032: Bip002 R Clavicle + 100034: Bip002 R Finger0 + 100036: Bip002 R Foot + 100038: Bip002 R Forearm + 100040: Bip002 R Hand + 100042: Bip002 R Thigh + 100044: Bip002 R Toe0 + 100046: Bip002 R Toe01 + 100048: Bip002 R Toe02 + 100050: Bip002 R UpperArm + 100052: Bip002 Spine + 100054: Bip002 Spine1 + 100056: Bip002 Spine2 + 100058: Bip002 Spine3 + 100060: BipDummy + 100062: BipDummy L Finger01 + 100064: BipDummy L Finger02 + 100066: BipDummy L Finger1 + 100068: BipDummy L Finger11 + 100070: BipDummy L Finger12 + 100072: BipDummy L Finger2 + 100074: BipDummy L Finger21 + 100076: BipDummy L Finger22 + 100078: BipDummy L Finger3 + 100080: BipDummy L Finger31 + 100082: BipDummy L Finger32 + 100084: BipDummy L Finger4 + 100086: BipDummy L Finger41 + 100088: BipDummy L Finger42 + 100090: BipDummy R Finger01 + 100092: BipDummy R Finger02 + 100094: BipDummy R Finger1 + 100096: BipDummy R Finger11 + 100098: BipDummy R Finger12 + 100100: BipDummy R Finger2 + 100102: BipDummy R Finger21 + 100104: BipDummy R Finger22 + 100106: BipDummy R Finger3 + 100108: BipDummy R Finger31 + 100110: BipDummy R Finger32 + 100112: BipDummy R Finger4 + 100114: BipDummy R Finger41 + 100116: BipDummy R Finger42 + 100118: FBXExport_Props:MP40 + 400000: 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bakeSimulation: 0 + resampleCurves: 1 + optimizeGameObjects: 0 + motionNodeName: + rigImportErrors: + rigImportWarnings: "Copied Avatar Rig Configuration mis-match. Bone length in + copied configuration does not match position in animation file:\n\t'Bip002 L + Thigh' : position error = 40.468407 mm\n\t'Bip002 R Thigh' : position error + = 38.027374 mm\n" + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar to + improve retargeting quality.\n\t'Bip002 Spine3' is inbetween humanoid transforms + and has rotation animation that will be discarded.\n" + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 0 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Aim MP-40 Standing Idle + takeName: Take 001 + firstFrame: 0 + lastFrame: 90 + wrapMode: 2 + 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Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger1/BipDummy L Finger11/BipDummy L Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21/BipDummy L Finger22 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger3 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31/BipDummy R Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R 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0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger1 + humanName: Left Index Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger11 + humanName: Left Index Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger12 + humanName: Left Index Distal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger2 + humanName: Left Middle Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger21 + humanName: Left Middle Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 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.00479140272, z: .0118531818} + rotation: {x: -.013923469, y: .009041816, z: -.0464320742, w: .99878341} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_middleProxy_01_geo + position: {x: -.700037003, y: -1.41435838, z: -.0462522097} + rotation: {x: 4.18855452e-05, y: -.0389639921, z: .00107416383, w: .999239981} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandMiddle2 + position: {x: .0438090637, y: .000194188149, z: .00645493623} + rotation: {x: -.0214091465, y: -.0445647128, z: .0864208117, w: .995031118} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_middleProxy_02_geo + position: {x: -.902008593, y: -1.32032251, z: -.013138772} + rotation: {x: -.000701564888, y: -.0125020016, z: -.056023661, w: .998350859} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandMiddle3 + position: {x: .0330724716, y: -.00754753686, z: .00168984616} + rotation: {x: .00703561725, y: -.000809935213, z: -.282593161, w: .959213674} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_middleProxy_03_geo + position: {x: -.935081065, y: -1.3127749, z: -.0148286186} + rotation: {x: -.000701564888, y: -.0125020016, z: -.056023661, w: .998350859} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandPinky1 + position: {x: .0668033436, y: -.00199410878, z: -.0307561457} + rotation: {x: -.0533695519, y: -.255002052, z: -.0125805456, w: .965384543} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_pinkyProxy_01_geo + position: {x: -.708490908, y: -1.39051926, z: .167834207} + rotation: {x: .000976056792, y: .0847904608, z: -.0114691779, w: .996332288} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandPinky2 + position: {x: .0285308417, y: -.001397143, z: -.0116237961} + rotation: {x: .0333820693, y: .00105633517, z: -.0586925782, w: .997717202} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_pinkyProxy_02_geo + position: {x: -.718481421, y: -1.39699113, z: .193045571} + rotation: {x: .000580511522, y: .0944183841, z: -.00612070551, w: .995513558} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandPinky3 + position: {x: .0214268602, y: -.000553508929, z: -.00851660781} + rotation: {x: -.0448535644, y: .000678764191, z: -.234266251, w: .971136928} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_pinkyProxy_03_geo + position: {x: -.739908278, y: -1.39643753, z: .201562166} + rotation: {x: .000580511522, y: .0944183841, z: -.00612070551, w: .995513558} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandRing1 + position: {x: .0705984756, y: .00245709647, z: -.00982145779} + rotation: {x: -.0145358918, y: -.117996149, z: -.0257448889, w: .992573798} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_ringProxy_01_geo + position: {x: -.719976664, y: -1.39957821, z: .0522536784} + rotation: {x: .000123969745, y: .0157473143, z: -.00787121616, w: .999844968} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandRing2 + position: {x: .0428871848, y: -.00137538207, z: -.00494585792} + rotation: {x: .022080658, y: -.0217018817, z: .0796142519, w: .996344805} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_ringProxy_02_geo + position: {x: -.909907341, y: -1.30544066, z: .0899852142} + rotation: {x: .00240248838, y: .0378382728, z: -.0633204356, w: .99727273} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandRing3 + position: {x: .0295006037, y: -.00769293541, z: -.00462225592} + rotation: {x: -.0179279428, y: .00232575764, z: -.237860426, w: .971131086} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_ringProxy_03_geo + position: {x: -.939407945, y: -1.29774773, z: .094607465} + rotation: {x: .00240248838, y: .0378382728, z: -.0633204356, w: .99727273} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandThumb1 + position: {x: .0146849155, y: -.0111049423, z: .0258580949} + rotation: {x: -.214292362, y: .0750333294, z: .223458514, w: .947900295} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_thumbProxy_01_geo + position: {x: -.64310205, y: -1.39964998, z: -.006062645} + rotation: {x: 1.89764271e-09, y: 1.26634801e-16, z: 1.04058686e-15, w: .99999994} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandThumb2 + position: {x: .0163739994, y: -.00528999977, z: .0234913602} + rotation: {x: -.0301828571, y: -.0993542671, z: -.00668276986, w: .994571745} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_thumbProxy_02_geo + position: {x: -.659475982, y: -1.39436007, z: -.0295539852} + rotation: {x: 1.89764249e-09, y: 1.42085206e-08, z: -1.75474462e-08, w: .99999994} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: RightHandThumb3 + position: {x: .0254599992, y: -.00763999997, z: .0208330005} + rotation: {x: .0482729301, y: .219708115, z: .0199370738, w: .974166512} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: r_thumbProxy_03_geo + position: {x: -.684936047, y: -1.38671994, z: -.0503868572} + rotation: {x: -3.65033941e-08, y: 2.97005407e-08, z: -3.37486235e-08, w: .99999994} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + - name: spineProxy_geo + position: {x: -2.6469779e-25, y: -1.05605721, z: -.0157713313} + rotation: {x: 0, y: -0, z: -0, w: .99999994} + scale: {x: 1, y: 1, z: 1} + transformModified: 1 + armTwist: .5 + foreArmTwist: .5 + upperLegTwist: .5 + legTwist: .5 + armStretch: .0500000007 + legStretch: .0500000007 + feetSpacing: 0 + rootMotionBoneName: + lastHumanDescriptionAvatarSource: {instanceID: 0} + animationType: 3 + additionalBone: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx new file mode 100644 index 00000000..96c7cc9a Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx.meta new file mode 100644 index 00000000..99ac8a37 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Run Turn Sharp.fbx.meta @@ -0,0 +1,1424 @@ +fileFormatVersion: 2 +guid: 4597f75592fba204890fd32d8c11a1fe +ModelImporter: + serializedVersion: 18 + fileIDToRecycleName: + 100000: Chest + 100002: chestProxy_geo + 100004: //RootNode + 100006: Head + 100008: headProxy_geo + 100010: HeadTop_End + 100012: Hips + 100014: Jaw + 100016: JawEND + 100018: jawProxy_geo + 100020: l_ankleProxy_geo + 100022: l_ballProxy_geo + 100024: l_clavicleProxy_geo + 100026: l_erbowProxy_geo + 100028: l_hipProxy_geo + 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PoseNode: { + Node: "Model::rShldr" + Matrix: -0.998010933399200,-0.060626033693552,0.017275007441640,0.000000000000000,0.060308329761028,-0.998011052608490,-0.018353609368205,0.000000000000000,0.018353402614594,-0.017275318503380,0.999682545661926,0.000000000000000,-11.460477828979492,49.705070495605469,-4.632953643798828,1.000000000000000 + } + PoseNode: { + Node: "Model::rForeArm" + Matrix: -0.953818857669830,0.032650381326675,0.298602312803268,0.000000000000000,-0.118994668126106,-0.953818857669830,-0.275807738304138,0.000000000000000,0.275807231664658,-0.298602759838104,0.913655936717987,0.000000000000000,-39.634674072265625,47.993576049804688,-4.145274162292480,1.000000000000000 + } + PoseNode: { + Node: "Model::rHand" + Matrix: 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+ PoseNode: { + Node: "Model::rIndex1" + Matrix: -0.816289424896240,-0.284084796905518,0.502958655357361,0.000000000000000,-0.069263830780983,-0.816289007663727,-0.573476016521454,0.000000000000000,0.573475360870361,-0.502959251403809,0.646651506423950,0.000000000000000,-69.982040405273438,49.705078125000000,8.534406661987305,1.000000000000000 + } + PoseNode: { + Node: "Model::rIndex2" + Matrix: -0.807200193405151,-0.116621218621731,0.578642606735229,0.000000000000000,-0.262409389019012,-0.807199716567993,-0.528743684291840,0.000000000000000,0.528742849826813,-0.578643262386322,0.620969474315643,0.000000000000000,-72.522613525390625,48.820907592773438,10.099786758422852,1.000000000000000 + } + PoseNode: { + Node: "Model::rMid1" + Matrix: -0.930874764919281,-0.177103191614151,0.319540828466415,0.000000000000000,0.053021516650915,-0.930874884128571,-0.361470162868500,0.000000000000000,0.361469984054565,-0.319540947675705,0.875918507575989,0.000000000000000,-70.469711303710938,49.948913574218750,6.339847564697266,1.000000000000000 + } + PoseNode: { + Node: "Model::rMid2" + Matrix: -0.940292239189148,-0.124428696930408,0.316808760166168,0.000000000000000,0.009797264821827,-0.940292179584503,-0.340227365493774,0.000000000000000,0.340226769447327,-0.316809296607971,0.885368764400482,0.000000000000000,-73.571357727050781,49.358810424804688,7.404547691345215,1.000000000000000 + } + PoseNode: { + Node: "Model::rRing1" + Matrix: -0.953999876976013,-0.299719065427780,-0.007256940938532,0.000000000000000,0.299643814563751,-0.953999876976013,0.009885936044157,0.000000000000000,-0.009886085987091,0.007256656885147,0.999924957752228,0.000000000000000,-71.050788879394531,49.313461303710938,4.442867279052734,1.000000000000000 + } + PoseNode: { + Node: "Model::rRing2" + Matrix: -0.989671289920807,-0.124449431896210,0.071155413985252,0.000000000000000,0.118666574358940,-0.989671289920807,-0.080430485308170,0.000000000000000,0.080430015921593,-0.071155987679958,0.994217395782471,0.000000000000000,-73.660125732421875,48.493682861328125,4.423018455505371,1.000000000000000 + } + PoseNode: { + Node: "Model::rPinky1" + Matrix: -0.886425733566284,-0.314040303230286,-0.340040892362595,0.000000000000000,0.145476818084717,-0.886425912380219,0.439415127038956,0.000000000000000,-0.439414948225021,0.340040743350983,0.831436634063721,0.000000000000000,-70.494590759277344,48.718994140625000,2.467686891555786,1.000000000000000 + } + PoseNode: { + Node: "Model::rPinky2" + Matrix: 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PoseNode: { + Node: "Model::lForeArm" + Matrix: 0.953818857669830,0.032650239765644,0.298602253198624,0.000000000000000,-0.118994519114494,0.953818857669830,0.275807797908783,0.000000000000000,-0.275807231664658,-0.298602759838104,0.913655936717987,0.000000000000000,39.634674072265625,47.993576049804688,-4.145274162292480,1.000000000000000 + } + PoseNode: { + Node: "Model::lHand" + Matrix: 0.929118394851685,0.057691525667906,0.365254074335098,0.000000000000000,-0.183825254440308,0.929118454456329,0.320853918790817,0.000000000000000,-0.320853680372238,-0.365254223346710,0.873866438865662,0.000000000000000,62.222572326660156,48.766784667968750,2.926086902618408,1.000000000000000 + } + PoseNode: { + Node: "Model::lThumb1" + Matrix: 0.698406398296356,-0.108685083687305,0.707400977611542,0.000000000000000,-0.452751040458679,0.698405921459198,0.554297626018524,0.000000000000000,-0.554296731948853,-0.707401394844055,0.438564062118530,0.000000000000000,63.441772460937500,48.278869628906250,6.339845657348633,1.000000000000000 + } + PoseNode: { + Node: "Model::lThumb2" + Matrix: 0.692774653434753,-0.459389328956604,0.555899977684021,0.000000000000000,-0.112232901155949,0.692774116992950,0.712367832660675,0.000000000000000,-0.712367117404938,-0.555900573730469,0.428377985954285,0.000000000000000,66.812126159667969,47.754379272460938,9.753605842590332,1.000000000000000 + } + PoseNode: { + Node: "Model::lIndex1" + Matrix: 0.816289424896240,-0.284084916114807,0.502958536148071,0.000000000000000,-0.069263711571693,0.816289007663727,0.573476135730743,0.000000000000000,-0.573475360870361,-0.502959251403809,0.646651506423950,0.000000000000000,69.982040405273438,49.705078125000000,8.534406661987305,1.000000000000000 + } + PoseNode: { + Node: "Model::lIndex2" + Matrix: 0.807200193405151,-0.116621337831020,0.578642487525940,0.000000000000000,-0.262409269809723,0.807199716567993,0.528743803501129,0.000000000000000,-0.528742849826813,-0.578643262386322,0.620969474315643,0.000000000000000,72.522613525390625,48.820907592773438,10.099786758422852,1.000000000000000 + } + PoseNode: { + Node: "Model::lMid1" + Matrix: 0.930874764919281,-0.177103340625763,0.319540768861771,0.000000000000000,0.053021658211946,0.930874884128571,0.361470222473145,0.000000000000000,-0.361469984054565,-0.319540947675705,0.875918507575989,0.000000000000000,70.469711303710938,49.948913574218750,6.339847564697266,1.000000000000000 + } + PoseNode: { + Node: "Model::lMid2" + Matrix: 0.940292239189148,-0.124428845942020,0.316808700561523,0.000000000000000,0.009797406382859,0.940292179584503,0.340227425098419,0.000000000000000,-0.340226769447327,-0.316809296607971,0.885368764400482,0.000000000000000,73.571357727050781,49.358810424804688,7.404547691345215,1.000000000000000 + } + PoseNode: { + Node: "Model::lRing1" + Matrix: 0.953999876976013,-0.299719184637070,-0.007256939075887,0.000000000000000,0.299643933773041,0.953999876976013,-0.009885937906802,0.000000000000000,0.009886085987091,0.007256656885147,0.999924957752228,0.000000000000000,71.050788879394531,49.313461303710938,4.442867279052734,1.000000000000000 + } + PoseNode: { + Node: "Model::lRing2" + Matrix: 0.989671289920807,-0.124449580907822,0.071155399084091,0.000000000000000,0.118666723370552,0.989671289920807,0.080430500209332,0.000000000000000,-0.080430015921593,-0.071155987679958,0.994217395782471,0.000000000000000,73.660125732421875,48.493682861328125,4.423018455505371,1.000000000000000 + } + PoseNode: { + Node: "Model::lPinky1" + Matrix: 0.886425733566284,-0.314040422439575,-0.340040832757950,0.000000000000000,0.145476937294006,0.886425912380219,-0.439415186643600,0.000000000000000,0.439414948225021,0.340040743350983,0.831436634063721,0.000000000000000,70.494590759277344,48.718994140625000,2.467686891555786,1.000000000000000 + } + PoseNode: { + Node: "Model::lPinky2" + Matrix: 0.904500842094421,-0.276691913604736,-0.324529737234116,0.000000000000000,0.131083726882935,0.904501020908356,-0.405826658010483,0.000000000000000,0.405826210975647,0.324529886245728,0.854391932487488,0.000000000000000,72.321929931640625,48.071609497070312,1.766703248023987,1.000000000000000 + } + PoseNode: { + Node: "Model::rButtock" + Matrix: 0.000000075497887,-0.613938152790070,-0.789354085922241,0.000000000000000,-0.999999821186066,-0.000000046351040,-0.000000059594576,0.000000000000000,0.000000000000000,0.789354085922241,-0.613938152790070,0.000000000000000,-8.778240203857422,4.350839614868164,1.219201564788818,1.000000000000000 + } + PoseNode: { + Node: "Model::rThigh" + Matrix: 0.000000075497880,-0.999802649021149,0.019863218069077,0.000000000000000,-0.999999761581421,-0.000000075483001,0.000000001499631,0.000000000000000,0.000000000000000,-0.019863218069077,-0.999802649021149,0.000000000000000,-8.778240203857422,2.643970012664795,-0.975359201431274,1.000000000000000 + } + PoseNode: { + Node: "Model::rShin" + Matrix: 0.016110708937049,-0.993489861488342,-0.112775079905987,0.000000000000000,-0.960130035877228,0.016110731288791,-0.279088467359543,0.000000000000000,0.279088437557220,0.112775087356567,-0.953620135784149,0.000000000000000,-8.778240203857422,-34.175930023193359,-0.243853151798248,1.000000000000000 + } + PoseNode: { + Node: "Model::rFoot" + Matrix: -0.088316187262535,-0.291185230016708,0.952581465244293,0.000000000000000,-0.988995969295502,-0.088315732777119,-0.118688657879829,0.000000000000000,0.118688292801380,-0.952581405639648,-0.280181348323822,0.000000000000000,-8.046720504760742,-79.286331176757812,-5.364519119262695,1.000000000000000 + } + PoseNode: { + Node: "Model::lButtock" + Matrix: 0.000000075497887,-0.613938152790070,-0.789354085922241,0.000000000000000,-0.999999821186066,-0.000000046351040,-0.000000059594576,0.000000000000000,0.000000000000000,0.789354085922241,-0.613938152790070,0.000000000000000,8.778240203857422,4.350839614868164,1.219201564788818,1.000000000000000 + } + PoseNode: { + Node: "Model::lThigh" + Matrix: 0.000000075497880,-0.999802649021149,0.019863218069077,0.000000000000000,-0.999999761581421,-0.000000075483001,0.000000001499631,0.000000000000000,0.000000000000000,-0.019863218069077,-0.999802649021149,0.000000000000000,8.778240203857422,2.643970012664795,-0.975359201431274,1.000000000000000 + } + PoseNode: { + Node: "Model::lShin" + Matrix: -0.016110563650727,-0.993489861488342,-0.112775124609470,0.000000000000000,-0.960130035877228,-0.016110880300403,0.279088467359543,0.000000000000000,-0.279088437557220,0.112775087356567,-0.953620135784149,0.000000000000000,8.778240203857422,-34.175930023193359,-0.243853151798248,1.000000000000000 + } + PoseNode: { + Node: "Model::lFoot" + Matrix: 0.088316336274147,-0.291185230016708,0.952581465244293,0.000000000000000,-0.988995969295502,0.088315688073635,0.118688806891441,0.000000000000000,-0.118688292801380,-0.952581405639648,-0.280181348323822,0.000000000000000,8.046720504760742,-79.286331176757812,-5.364519119262695,1.000000000000000 + } + } + GlobalSettings: { + Version: 1000 + Properties60: { + Property: "UpAxis", "int", "",1 + Property: "UpAxisSign", "int", "",1 + Property: "FrontAxis", "int", "",2 + Property: "FrontAxisSign", "int", "",1 + Property: "CoordAxis", "int", "",0 + Property: "CoordAxisSign", "int", "",1 + Property: "UnitScaleFactor", "double", "",1 + } + } +} + +; Object relations +;------------------------------------------------------------------ + +Relations: { + Model: "Model::10_03", "Limb" { + } + Model: "Model::hip", "Limb" { + } + Model: "Model::abdomen", "Limb" { + } + Model: "Model::chest", "Limb" { + } + Model: "Model::neck", "Limb" { + } + Model: "Model::head", "Limb" { + } + Model: "Model::leftEye", "Limb" { + } + Model: "Model::rightEye", "Limb" { + } + Model: "Model::rCollar", "Limb" { + } + Model: "Model::rShldr", "Limb" { + } + Model: "Model::rForeArm", "Limb" { + } + Model: "Model::rHand", "Limb" { + } + Model: "Model::rThumb1", "Limb" { + } + Model: "Model::rThumb2", "Limb" { + } + Model: "Model::rIndex1", "Limb" { + } + Model: "Model::rIndex2", "Limb" { + } + Model: "Model::rMid1", "Limb" { + } + Model: "Model::rMid2", "Limb" { + } + Model: "Model::rRing1", "Limb" { + } + Model: "Model::rRing2", "Limb" { + } + Model: "Model::rPinky1", "Limb" { + } + Model: "Model::rPinky2", "Limb" { + } + Model: "Model::lCollar", "Limb" { + } + Model: "Model::lShldr", "Limb" { + } + Model: "Model::lForeArm", "Limb" { + } + Model: "Model::lHand", "Limb" { + } + Model: "Model::lThumb1", "Limb" { + } + Model: "Model::lThumb2", "Limb" { + } + Model: "Model::lIndex1", "Limb" { + } + Model: "Model::lIndex2", "Limb" { + } + Model: "Model::lMid1", "Limb" { + } + Model: "Model::lMid2", "Limb" { + } + Model: "Model::lRing1", "Limb" { + } + Model: "Model::lRing2", "Limb" { + } + Model: "Model::lPinky1", "Limb" { + } + Model: "Model::lPinky2", "Limb" { + } + Model: "Model::rButtock", "Limb" { + } + Model: "Model::rThigh", "Limb" { + } + Model: "Model::rShin", "Limb" { + } + Model: "Model::rFoot", "Limb" { + } + Model: "Model::lButtock", "Limb" { + } + Model: "Model::lThigh", "Limb" { + } + Model: "Model::lShin", "Limb" { + } + Model: "Model::lFoot", "Limb" { + } + Model: "Model::Producer Perspective", "Camera" { + } + Model: "Model::Producer Top", "Camera" { + } + Model: "Model::Producer Bottom", "Camera" { + } + Model: "Model::Producer Front", "Camera" { + } + Model: "Model::Producer Back", "Camera" { + } + Model: "Model::Producer Right", "Camera" { + } + Model: "Model::Producer Left", "Camera" { + } + Model: "Model::Camera Switcher", "CameraSwitcher" { + } +} + +; Object connections +;------------------------------------------------------------------ + +Connections: { + Connect: "OO", "Model::10_03", "Model::Scene" + Connect: "OO", "Model::hip", "Model::10_03" + Connect: "OO", "Model::abdomen", "Model::hip" + Connect: "OO", "Model::chest", "Model::abdomen" + Connect: "OO", "Model::neck", "Model::chest" + Connect: "OO", "Model::head", "Model::neck" + Connect: "OO", "Model::leftEye", "Model::head" + Connect: "OO", "Model::rightEye", "Model::head" + Connect: "OO", "Model::rCollar", "Model::chest" + Connect: "OO", "Model::rShldr", "Model::rCollar" + Connect: "OO", "Model::rForeArm", "Model::rShldr" + Connect: "OO", "Model::rHand", "Model::rForeArm" + Connect: "OO", "Model::rThumb1", "Model::rHand" + Connect: "OO", "Model::rThumb2", "Model::rThumb1" + Connect: "OO", "Model::rIndex1", "Model::rHand" + Connect: "OO", "Model::rIndex2", "Model::rIndex1" + Connect: "OO", "Model::rMid1", "Model::rHand" + Connect: "OO", "Model::rMid2", "Model::rMid1" + Connect: "OO", "Model::rRing1", "Model::rHand" + Connect: "OO", "Model::rRing2", "Model::rRing1" + Connect: "OO", "Model::rPinky1", "Model::rHand" + Connect: "OO", "Model::rPinky2", "Model::rPinky1" + Connect: "OO", "Model::lCollar", "Model::chest" + Connect: "OO", "Model::lShldr", "Model::lCollar" + Connect: "OO", "Model::lForeArm", "Model::lShldr" + Connect: "OO", "Model::lHand", "Model::lForeArm" + Connect: "OO", "Model::lThumb1", "Model::lHand" + Connect: "OO", "Model::lThumb2", "Model::lThumb1" + Connect: "OO", "Model::lIndex1", "Model::lHand" + Connect: "OO", "Model::lIndex2", "Model::lIndex1" + Connect: "OO", "Model::lMid1", "Model::lHand" + Connect: "OO", "Model::lMid2", "Model::lMid1" + Connect: "OO", "Model::lRing1", "Model::lHand" + Connect: "OO", "Model::lRing2", "Model::lRing1" + Connect: "OO", "Model::lPinky1", "Model::lHand" + Connect: "OO", "Model::lPinky2", "Model::lPinky1" + Connect: "OO", "Model::rButtock", "Model::hip" + Connect: "OO", "Model::rThigh", "Model::rButtock" + Connect: "OO", "Model::rShin", "Model::rThigh" + Connect: "OO", "Model::rFoot", "Model::rShin" + Connect: "OO", "Model::lButtock", "Model::hip" + Connect: "OO", "Model::lThigh", "Model::lButtock" + Connect: "OO", "Model::lShin", "Model::lThigh" + Connect: "OO", "Model::lFoot", "Model::lShin" +} +;Takes and animation section +;---------------------------------------------------- + +Takes: { + 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Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11/BipDummy R Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2/BipDummy R Finger21 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2/BipDummy R Finger21/BipDummy R Finger22 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31/BipDummy R Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41/BipDummy R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 0.001 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 1 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 1 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 0 + previousCalculatedGlobalScale: 0.001 + hasPreviousCalculatedGlobalScale: 1 + tangentSpace: + normalSmoothAngle: 60 + normalImportMode: 0 + tangentImportMode: 4 + normalCalculationMode: 0 + legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1 + blendShapeNormalImportMode: 1 + normalSmoothingSource: 0 + importAnimation: 1 + copyAvatar: 1 + humanDescription: + serializedVersion: 2 + human: + - boneName: Bip002 Pelvis + humanName: Hips + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Thigh + humanName: RightUpperLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Calf + humanName: RightLowerLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Foot + humanName: RightFoot + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Toe0 + humanName: RightToes + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine1 + humanName: Spine + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine2 + humanName: Chest + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Clavicle + humanName: RightShoulder + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R UpperArm + 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Finger4 + 400108: Bip001 R Finger41 + 400110: Bip001 R Finger42 + 400112: Bip001 R Finger4Nub + 400114: Bip001 R Foot + 400116: Bip001 R Forearm + 400118: Bip001 R Hand + 400120: Bip001 R Thigh + 400122: Bip001 R Toe0 + 400124: Bip001 R Toe0Nub + 400126: Bip001 R UpperArm + 400128: Bip001 Spine + 400130: Bip001 Spine1 + 400132: Bip001 Spine2 + 7400000: Upperbody Swing Prop + 9500000: //RootNode + 2186277476908879412: ImportLogs + externalObjects: {} + materials: + importMaterials: 1 + materialName: 0 + materialSearch: 1 + materialLocation: 0 + animations: + legacyGenerateAnimations: 4 + bakeSimulation: 0 + resampleCurves: 1 + optimizeGameObjects: 0 + motionNodeName: + rigImportErrors: + rigImportWarnings: + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar to + improve retargeting quality.\n\t'Bip001 Spine1' has translation animation that + will be discarded.\n\t'Bip001 Spine2' has translation animation that will be + discarded.\n\t'Bip001 Neck' has translation animation that will be discarded.\n\t'Bip001 + L Clavicle' has translation animation that will be discarded.\n\t'Bip001 L UpperArm' + has translation animation that will be discarded.\n\t'Bip001 L Forearm' has + translation animation that will be discarded.\n\t'Bip001 L Hand' has translation + animation that will be discarded.\n\t'Bip001 L Finger0' has translation animation + that will be discarded.\n\t'Bip001 L Finger01' has translation animation that + will be discarded.\n\t'Bip001 L Finger02' has translation animation that will + be discarded.\n\t'Bip001 L Finger1' has translation animation that will be discarded.\n\t'Bip001 + L Finger11' has translation animation that will be discarded.\n\t'Bip001 L Finger12' + has translation animation that will be discarded.\n\t'Bip001 L Finger2' has + translation animation that will be discarded.\n\t'Bip001 L Finger21' has translation + animation that will be discarded.\n\t'Bip001 L Finger22' has translation animation + that will be discarded.\n\t'Bip001 L Finger3' has translation animation that + will be discarded.\n\t'Bip001 L Finger31' has translation animation that will + be discarded.\n\t'Bip001 L Finger32' has translation animation that will be + discarded.\n\t'Bip001 L Finger4' has translation animation that will be discarded.\n\t'Bip001 + L Finger41' has translation animation that will be discarded.\n\t'Bip001 L Finger42' + has translation animation that will be discarded.\n\t'Bip001 R Clavicle' has + translation animation that will be discarded.\n\t'Bip001 R UpperArm' has translation + animation that will be discarded.\n\t'Bip001 R Forearm' has translation animation + that will be discarded.\n\t'Bip001 R Hand' has translation animation that will + be discarded.\n\t'Bip001 R Finger0' has translation animation that will be discarded.\n\t'Bip001 + R Finger01' has translation animation that will be discarded.\n\t'Bip001 R Finger02' + has translation animation that will be discarded.\n\t'Bip001 R Finger1' has + translation animation that will be discarded.\n\t'Bip001 R Finger11' has translation + animation that will be discarded.\n\t'Bip001 R Finger12' has translation animation + that will be discarded.\n\t'Bip001 R Finger2' has translation animation that + will be discarded.\n\t'Bip001 R Finger21' has translation animation that will + be discarded.\n\t'Bip001 R Finger22' has translation animation that will be + discarded.\n\t'Bip001 R Finger3' has translation animation that will be discarded.\n\t'Bip001 + R Finger31' has translation animation that will be discarded.\n\t'Bip001 R Finger32' + has translation animation that will be discarded.\n\t'Bip001 R Finger4' has + translation animation that will be discarded.\n\t'Bip001 R Finger41' has translation + animation that will be discarded.\n\t'Bip001 R Finger42' has translation animation + that will be discarded.\n\t'Bip001 Head' has translation animation that will + be discarded.\n\t'Bip001 L Thigh' has translation animation that will be discarded.\n\t'Bip001 + L Foot' has translation animation that will be discarded.\n\t'Bip001 L Toe0' + has translation animation that will be discarded.\n\t'Bip001 R Thigh' has translation + animation that will be discarded.\n\t'Bip001 R Foot' has translation animation + that will be discarded.\n" + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 0 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Upperbody Swing Prop + takeName: Take 001 + firstFrame: 0 + lastFrame: 27 + wrapMode: 0 + orientationOffsetY: 0 + level: 0 + cycleOffset: 0 + loop: 0 + hasAdditiveReferencePose: 0 + loopTime: 0 + loopBlend: 0 + loopBlendOrientation: 1 + loopBlendPositionY: 1 + loopBlendPositionXZ: 1 + keepOriginalOrientation: 1 + keepOriginalPositionY: 1 + keepOriginalPositionXZ: 1 + heightFromFeet: 0 + mirror: 0 + bodyMask: 01000000010000000100000001000000010000000100000001000000010000000100000001000000010000000100000001000000 + curves: [] + events: [] + transformMask: + - path: + weight: 1 + - path: Bip001 + weight: 1 + - path: Bip001/Bip001 Pelvis + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 L Thigh + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 L Thigh/Bip001 L Calf + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 L Thigh/Bip001 L Calf/Bip001 + L Foot + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 L Thigh/Bip001 L Calf/Bip001 + L Foot/Bip001 L Toe0 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 R Thigh + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 R Thigh/Bip001 R Calf + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 R Thigh/Bip001 R Calf/Bip001 + R Foot + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 R Thigh/Bip001 R Calf/Bip001 + R Foot/Bip001 R Toe0 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 Head + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger0 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger0/Bip001 L Finger01 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger0/Bip001 L Finger01/Bip001 L Finger02 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger1 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger1/Bip001 L Finger11 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger1/Bip001 L Finger11/Bip001 L Finger12 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger2 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger2/Bip001 L Finger21 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger2/Bip001 L Finger21/Bip001 L Finger22 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger3 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger3/Bip001 L Finger31 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger3/Bip001 L Finger31/Bip001 L Finger32 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger4 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger4/Bip001 L Finger41 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 L Clavicle/Bip001 L UpperArm/Bip001 L Forearm/Bip001 L Hand/Bip001 + L Finger4/Bip001 L Finger41/Bip001 L Finger42 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger0 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger0/Bip001 R Finger01 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger0/Bip001 R Finger01/Bip001 R Finger02 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger1 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger1/Bip001 R Finger11 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger1/Bip001 R Finger11/Bip001 R Finger12 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger2 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger2/Bip001 R Finger21 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger2/Bip001 R Finger21/Bip001 R Finger22 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger3 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger3/Bip001 R Finger31 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger3/Bip001 R Finger31/Bip001 R Finger32 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger4 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger4/Bip001 R Finger41 + weight: 1 + - path: Bip001/Bip001 Pelvis/Bip001 Spine/Bip001 Spine1/Bip001 Spine2/Bip001 + Neck/Bip001 R Clavicle/Bip001 R UpperArm/Bip001 R Forearm/Bip001 R Hand/Bip001 + R Finger4/Bip001 R Finger41/Bip001 R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 1000 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 1 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 1 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 1 + previousCalculatedGlobalScale: 1000 + hasPreviousCalculatedGlobalScale: 1 + tangentSpace: + normalSmoothAngle: 60 + normalImportMode: 0 + tangentImportMode: 4 + normalCalculationMode: 0 + legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1 + blendShapeNormalImportMode: 1 + normalSmoothingSource: 0 + importAnimation: 1 + copyAvatar: 0 + humanDescription: + serializedVersion: 2 + human: + - boneName: Bip001 Spine + humanName: Hips + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 R Thigh + humanName: RightUpperLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 R Calf + humanName: RightLowerLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 R Foot + humanName: RightFoot + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 R Toe0 + humanName: RightToes + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 Spine1 + humanName: Spine + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip001 Spine2 + humanName: Chest + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - 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Bone length in + copied configuration does not match position in animation file:\n\t'Bip002 L + Thigh' : position error = 2.431027 mm\n\t'Bip002 R Thigh' : position error = + 2.431052 mm\n" + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar to + improve retargeting quality.\n\t'Bip002 Spine' has translation animation that + will be discarded.\n\t'Bip002 Spine' is inbetween humanoid transforms and has + rotation animation that will be discarded.\n\t'Bip002 Spine3' is inbetween humanoid + transforms and has rotation animation that will be discarded.\n\t'Bip002 Neck' + is inbetween humanoid transforms and has rotation animation that will be discarded.\n\t'Bip002 + L Thigh' has translation animation that will be discarded.\n\t'Bip002 R Thigh' + has translation animation that will be discarded.\n" + animationRetargetingWarnings: + 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BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 Head + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/Bip002 L Finger0 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/Bip002 L Finger0/BipDummy L Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/Bip002 L Finger0/BipDummy L Finger01/BipDummy L Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger1/BipDummy L Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger1/BipDummy L Finger11/BipDummy L Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger2/BipDummy L Finger21/BipDummy L Finger22 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger3 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger3/BipDummy L Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger3/BipDummy L Finger31/BipDummy L Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 L Clavicle/Bip002 L UpperArm/Bip002 L Forearm/Bip002 + L Hand/BipDummy L Finger4 + weight: 1 + 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Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11/BipDummy R Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2/BipDummy R Finger21 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2/BipDummy R Finger21/BipDummy R Finger22 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger3/BipDummy R Finger31/BipDummy R Finger32 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger4/BipDummy R Finger41/BipDummy R Finger42 + weight: 1 + maskType: 0 + maskSource: {instanceID: 0} + additiveReferencePoseFrame: 0 + isReadable: 1 + meshes: + lODScreenPercentages: [] + globalScale: 0.001 + meshCompression: 0 + addColliders: 0 + useSRGBMaterialColor: 1 + importVisibility: 0 + importBlendShapes: 0 + importCameras: 0 + importLights: 0 + swapUVChannels: 0 + generateSecondaryUV: 0 + useFileUnits: 1 + optimizeMeshForGPU: 0 + keepQuads: 0 + weldVertices: 1 + preserveHierarchy: 0 + indexFormat: 1 + secondaryUVAngleDistortion: 8 + secondaryUVAreaDistortion: 15.000001 + secondaryUVHardAngle: 88 + secondaryUVPackMargin: 4 + useFileScale: 0 + previousCalculatedGlobalScale: 0.001 + hasPreviousCalculatedGlobalScale: 1 + tangentSpace: + normalSmoothAngle: 60 + normalImportMode: 2 + tangentImportMode: 2 + normalCalculationMode: 0 + legacyComputeAllNormalsFromSmoothingGroupsWhenMeshHasBlendShapes: 1 + blendShapeNormalImportMode: 2 + normalSmoothingSource: 0 + importAnimation: 1 + copyAvatar: 1 + humanDescription: + serializedVersion: 2 + human: + - boneName: Bip002 Pelvis + humanName: Hips + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Thigh + humanName: RightUpperLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Calf + humanName: RightLowerLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Foot + humanName: RightFoot + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Toe0 + humanName: RightToes + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine1 + humanName: Spine + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Spine2 + humanName: Chest + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Clavicle + humanName: RightShoulder + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R UpperArm + humanName: RightUpperArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Forearm + humanName: RightLowerArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 R Hand + humanName: RightHand + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 Head + humanName: Head + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Clavicle + humanName: LeftShoulder + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L UpperArm + humanName: LeftUpperArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Forearm + humanName: LeftLowerArm + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Hand + humanName: LeftHand + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Thigh + humanName: LeftUpperLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Calf + humanName: LeftLowerLeg + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Foot + humanName: LeftFoot + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Toe0 + humanName: LeftToes + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: Bip002 L Finger0 + humanName: Left Thumb Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger01 + humanName: Left Thumb Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger02 + humanName: Left Thumb Distal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger1 + humanName: Left Index Proximal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger11 + humanName: Left Index Intermediate + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger12 + humanName: Left Index Distal + limit: + min: {x: 0, y: 0, z: 0} + max: {x: 0, y: 0, z: 0} + value: {x: 0, y: 0, z: 0} + length: 0 + modified: 0 + - boneName: BipDummy L Finger2 + humanName: Left Middle Proximal + 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0.99928635} + scale: {x: 1, y: 1.0000004, z: 0.99999994} + - name: BipDummy R Finger32 + parentName: + position: {x: -0.022785772, y: -0.00000017508864, z: 0.000000023302835} + rotation: {x: -0.000000022351742, y: 0.000000014901161, z: -0.11640229, w: 0.9932022} + scale: {x: 1.0000002, y: 1.0000001, z: 0.99999994} + - name: BipDummy R Finger4 + parentName: + position: {x: -0.09384682, y: 0.009099855, z: -0.039979562} + rotation: {x: 0.00041951978, y: -0.04640693, z: -0.0036935704, w: 0.9989157} + scale: {x: 0.9999999, y: 1.0000001, z: 1.0000001} + - name: BipDummy R Finger41 + parentName: + position: {x: -0.032119773, y: 0.0000004210351, z: -0.000000005355105} + rotation: {x: -0.000000230968, y: 0.000000949949, z: -0.038713846, w: 0.99925035} + scale: {x: 1.0000001, y: 0.99999976, z: 1} + - name: BipDummy R Finger42 + parentName: + position: {x: -0.018896157, y: 0.00000022724272, z: -0.00000007629675} + rotation: {x: -0.0000000037252903, y: 0.00000012665987, z: -0.1164022, w: 0.9932022} + scale: {x: 1, y: 1, z: 0.9999999} + - name: Dummy + parentName: + position: {x: 0, y: 0, z: 0} + rotation: {x: 0.000000021855694, y: 0, z: 0, w: 1} + scale: {x: 1.9103826, y: 1.9103826, z: 1.9103826} + armTwist: 0.5 + foreArmTwist: 0.5 + upperLegTwist: 0.5 + legTwist: 0.5 + armStretch: 0.05 + legStretch: 0.05 + feetSpacing: 0 + rootMotionBoneName: + hasTranslationDoF: 0 + hasExtraRoot: 0 + skeletonHasParents: 0 + lastHumanDescriptionAvatarSource: {fileID: 9000000, guid: 959d14bf134f54a6e993fe6ca6e063c0, + type: 3} + animationType: 3 + humanoidOversampling: 1 + additionalBone: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX new file mode 100644 index 00000000..6220fc8f Binary files /dev/null and b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX differ diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX.meta new file mode 100644 index 00000000..45f4cc2d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Humanoid Animations/Walk.FBX.meta @@ -0,0 +1,1153 @@ +fileFormatVersion: 2 +guid: 739b2627204c24240aa40c4f67f59d0e +ModelImporter: + serializedVersion: 23 + fileIDToRecycleName: + 100000: Bip002 Head + 100002: Bip002 L Calf + 100004: Bip002 L Clavicle + 100006: Bip002 L Finger0 + 100008: Bip002 L Foot + 100010: Bip002 L Forearm + 100012: Bip002 L Hand + 100014: Bip002 L Thigh + 100016: Bip002 L Toe0 + 100018: Bip002 L Toe01 + 100020: Bip002 L Toe02 + 100022: Bip002 L UpperArm + 100024: Bip002 Neck + 100026: Bip002 Pelvis + 100028: Bip002 R Calf + 100030: Bip002 R Clavicle + 100032: Bip002 R Finger0 + 100034: Bip002 R Foot + 100036: Bip002 R Forearm + 100038: Bip002 R Hand + 100040: Bip002 R Thigh + 100042: Bip002 R Toe0 + 100044: Bip002 R Toe01 + 100046: Bip002 R Toe02 + 100048: Bip002 R UpperArm + 100050: Bip002 Spine + 100052: Bip002 Spine1 + 100054: Bip002 Spine2 + 100056: Bip002 Spine3 + 100058: BipDummy + 100060: BipDummy L Finger01 + 100062: BipDummy L Finger02 + 100064: BipDummy L Finger1 + 100066: BipDummy L Finger11 + 100068: BipDummy L Finger12 + 100070: BipDummy L Finger2 + 100072: BipDummy L Finger21 + 100074: BipDummy L Finger22 + 100076: BipDummy L Finger3 + 100078: BipDummy L Finger31 + 100080: BipDummy L Finger32 + 100082: BipDummy L Finger4 + 100084: BipDummy L Finger41 + 100086: BipDummy L Finger42 + 100088: BipDummy R Finger01 + 100090: BipDummy R Finger02 + 100092: BipDummy R Finger1 + 100094: BipDummy R Finger11 + 100096: BipDummy R Finger12 + 100098: BipDummy R Finger2 + 100100: BipDummy R Finger21 + 100102: BipDummy R Finger22 + 100104: BipDummy R Finger3 + 100106: BipDummy R Finger31 + 100108: BipDummy R Finger32 + 100110: BipDummy R Finger4 + 100112: BipDummy R Finger41 + 100114: BipDummy R Finger42 + 100116: //RootNode + 400000: Bip002 Head + 400002: Bip002 L Calf + 400004: Bip002 L Clavicle + 400006: Bip002 L Finger0 + 400008: Bip002 L Foot + 400010: Bip002 L Forearm + 400012: Bip002 L Hand + 400014: Bip002 L Thigh + 400016: Bip002 L Toe0 + 400018: Bip002 L Toe01 + 400020: Bip002 L Toe02 + 400022: Bip002 L UpperArm + 400024: Bip002 Neck + 400026: Bip002 Pelvis + 400028: Bip002 R Calf + 400030: Bip002 R Clavicle + 400032: Bip002 R Finger0 + 400034: Bip002 R Foot + 400036: Bip002 R Forearm + 400038: Bip002 R Hand + 400040: Bip002 R Thigh + 400042: Bip002 R Toe0 + 400044: Bip002 R Toe01 + 400046: Bip002 R Toe02 + 400048: Bip002 R UpperArm + 400050: Bip002 Spine + 400052: Bip002 Spine1 + 400054: Bip002 Spine2 + 400056: Bip002 Spine3 + 400058: BipDummy + 400060: BipDummy L Finger01 + 400062: BipDummy L Finger02 + 400064: BipDummy L Finger1 + 400066: BipDummy L Finger11 + 400068: BipDummy L Finger12 + 400070: BipDummy L Finger2 + 400072: BipDummy L Finger21 + 400074: BipDummy L Finger22 + 400076: BipDummy L Finger3 + 400078: BipDummy L Finger31 + 400080: BipDummy L Finger32 + 400082: BipDummy L Finger4 + 400084: BipDummy L Finger41 + 400086: BipDummy L Finger42 + 400088: BipDummy R Finger01 + 400090: BipDummy R Finger02 + 400092: BipDummy R Finger1 + 400094: BipDummy R Finger11 + 400096: BipDummy R Finger12 + 400098: BipDummy R Finger2 + 400100: BipDummy R Finger21 + 400102: BipDummy R Finger22 + 400104: BipDummy R Finger3 + 400106: BipDummy R Finger31 + 400108: BipDummy R Finger32 + 400110: BipDummy R Finger4 + 400112: BipDummy R Finger41 + 400114: BipDummy R Finger42 + 400116: //RootNode + 7400000: Walk + 9500000: //RootNode + 2186277476908879412: ImportLogs + externalObjects: {} + materials: + importMaterials: 0 + materialName: 0 + materialSearch: 1 + materialLocation: 0 + animations: + legacyGenerateAnimations: 4 + bakeSimulation: 0 + resampleCurves: 1 + optimizeGameObjects: 0 + motionNodeName: + rigImportErrors: + rigImportWarnings: "Copied Avatar Rig Configuration mis-match. Bone length in + copied configuration does not match position in animation file:\n\t'Bip002 L + Thigh' : position error = 11.188383 mm\n\t'Bip002 R Thigh' : position error + = 47.579235 mm\n" + animationImportErrors: + animationImportWarnings: "\nClip 'Take 001' has import animation warnings that + might lower retargeting quality:\nNote: Activate translation DOF on avatar to + improve retargeting quality.\n\t'Bip002 Spine' has translation animation that + will be discarded.\n\t'Bip002 Spine' is inbetween humanoid transforms and has + rotation animation that will be discarded.\n\t'Bip002 Spine3' is inbetween humanoid + transforms and has rotation animation that will be discarded.\n\t'Bip002 Neck' + is inbetween humanoid transforms and has rotation animation that will be discarded.\n\t'Bip002 + L Thigh' has translation animation that will be discarded.\n\t'Bip002 R Thigh' + has translation animation that will be discarded.\n" + animationRetargetingWarnings: + animationDoRetargetingWarnings: 0 + importAnimatedCustomProperties: 0 + importConstraints: 0 + animationCompression: 3 + animationRotationError: 0.5 + animationPositionError: 0.5 + animationScaleError: 0.5 + animationWrapMode: 0 + extraExposedTransformPaths: [] + extraUserProperties: [] + clipAnimations: + - serializedVersion: 16 + name: Walk + takeName: Take 001 + firstFrame: 5 + lastFrame: 35 + wrapMode: 0 + orientationOffsetY: -0.03 + level: 0 + cycleOffset: 0.3 + loop: 0 + hasAdditiveReferencePose: 0 + loopTime: 1 + loopBlend: 1 + loopBlendOrientation: 1 + loopBlendPositionY: 1 + loopBlendPositionXZ: 0 + keepOriginalOrientation: 1 + keepOriginalPositionY: 1 + keepOriginalPositionXZ: 0 + heightFromFeet: 0 + mirror: 0 + bodyMask: 01000000010000000100000001000000010000000100000001000000010000000100000001000000010000000100000001000000 + curves: [] + events: [] + transformMask: + - path: + weight: 1 + - path: BipDummy + weight: 1 + - path: BipDummy/Bip002 Pelvis + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh/Bip002 L Calf + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh/Bip002 L Calf/Bip002 + L Foot + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh/Bip002 L Calf/Bip002 + L Foot/Bip002 L Toe0 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh/Bip002 L Calf/Bip002 + L Foot/Bip002 L Toe0/Bip002 L Toe01 + weight: 0 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 L Thigh/Bip002 L Calf/Bip002 + L Foot/Bip002 L Toe0/Bip002 L Toe01/Bip002 L Toe02 + weight: 0 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 R Thigh + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 R Thigh/Bip002 R Calf + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 R Thigh/Bip002 R Calf/Bip002 + R Foot + weight: 1 + - path: BipDummy/Bip002 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Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/Bip002 R Finger0/BipDummy R Finger01/BipDummy R Finger02 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger1/BipDummy R Finger11/BipDummy R Finger12 + weight: 1 + - path: BipDummy/Bip002 Pelvis/Bip002 Spine/Bip002 Spine1/Bip002 Spine2/Bip002 + Spine3/Bip002 Neck/Bip002 R Clavicle/Bip002 R UpperArm/Bip002 R Forearm/Bip002 + R Hand/BipDummy R Finger2 + 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Demo Assets/Scripts/Camera Controllers/CameraController.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraController.cs new file mode 100644 index 00000000..29febc63 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraController.cs @@ -0,0 +1,208 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// 3rd person camera controller. + /// + public class CameraController : MonoBehaviour { + + // When to update the camera? + [System.Serializable] + public enum UpdateMode { + Update, + FixedUpdate, + LateUpdate, + FixedLateUpdate + } + + public Transform target; // The target Transform to follow + public Transform rotationSpace; // If assigned, will use this Transform's rotation as the rotation space instead of the world space. Useful with spherical planets. + public UpdateMode updateMode = UpdateMode.LateUpdate; // When to update the camera? + public bool lockCursor = true; // If true, the mouse will be locked to screen center and hidden + + [Header("Position")] + public bool smoothFollow; // If > 0, camera will smoothly interpolate towards the target + public Vector3 offset = new Vector3(0, 1.5f, 0.5f); // The offset from target relative to camera rotation + public float followSpeed = 10f; // Smooth follow speed + + [Header("Rotation")] + public float rotationSensitivity = 3.5f; // The sensitivity of rotation + public float yMinLimit = -20; // Min vertical angle + public float yMaxLimit = 80; // Max vertical angle + public bool rotateAlways = true; // Always rotate to mouse? + public bool rotateOnLeftButton; // Rotate to mouse when left button is pressed? + public bool rotateOnRightButton; // Rotate to mouse when right button is pressed? + public bool rotateOnMiddleButton; // Rotate to mouse when middle button is pressed? + + [Header("Distance")] + public float distance = 10.0f; // The current distance to target + public float minDistance = 4; // The minimum distance to target + public float maxDistance = 10; // The maximum distance to target + public float zoomSpeed = 10f; // The speed of interpolating the distance + public float zoomSensitivity = 1f; // The sensitivity of mouse zoom + + [Header("Blocking")] + public LayerMask blockingLayers; + public float blockingRadius = 1f; + public float blockingSmoothTime = 0.1f; + public float blockingOriginOffset; + [Range(0f, 1f)] public float blockedOffset = 0.5f; + + public float x { get; private set; } // The current x rotation of the camera + public float y { get; private set; } // The current y rotation of the camera + public float distanceTarget { get; private set; } // Get/set distance + + private Vector3 targetDistance, position; + private Quaternion rotation = Quaternion.identity; + private Vector3 smoothPosition; + private Camera cam; + private bool fixedFrame; + private float fixedDeltaTime; + private Quaternion r = Quaternion.identity; + private Vector3 lastUp; + private float blockedDistance = 10f, blockedDistanceV; + + public void SetAngles(Quaternion rotation) + { + Vector3 euler = rotation.eulerAngles; + this.x = euler.y; + this.y = euler.x; + } + + public void SetAngles(float yaw, float pitch) + { + this.x = yaw; + this.y = pitch; + } + + // Initiate, set the params to the current transformation of the camera relative to the target + protected virtual void Awake () { + Vector3 angles = transform.eulerAngles; + x = angles.y; + y = angles.x; + + distanceTarget = distance; + smoothPosition = transform.position; + + cam = GetComponent(); + + lastUp = rotationSpace != null? rotationSpace.up: Vector3.up; + } + + protected virtual void Update() { + if (updateMode == UpdateMode.Update) UpdateTransform(); + } + + protected virtual void FixedUpdate() { + fixedFrame = true; + fixedDeltaTime += Time.deltaTime; + if (updateMode == UpdateMode.FixedUpdate) UpdateTransform(); + } + + protected virtual void LateUpdate() { + UpdateInput(); + + if (updateMode == UpdateMode.LateUpdate) UpdateTransform(); + + if (updateMode == UpdateMode.FixedLateUpdate && fixedFrame) { + UpdateTransform(fixedDeltaTime); + fixedDeltaTime = 0f; + fixedFrame = false; + } + } + + // Read the user input + public void UpdateInput() { + if (!cam.enabled) return; + + // Cursors + Cursor.lockState = lockCursor? CursorLockMode.Locked: CursorLockMode.None; + Cursor.visible = lockCursor? false: true; + + // Should we rotate the camera? + bool rotate = rotateAlways || (rotateOnLeftButton && Input.GetMouseButton(0)) || (rotateOnRightButton && Input.GetMouseButton(1)) || (rotateOnMiddleButton && Input.GetMouseButton(2)); + + // delta rotation + if (rotate) { + x += Input.GetAxis("Mouse X") * rotationSensitivity; + y = ClampAngle(y - Input.GetAxis("Mouse Y") * rotationSensitivity, yMinLimit, yMaxLimit); + } + + // Distance + distanceTarget = Mathf.Clamp(distanceTarget + zoomAdd, minDistance, maxDistance); + } + + // Update the camera transform + public void UpdateTransform() { + UpdateTransform(Time.deltaTime); + } + + public void UpdateTransform(float deltaTime) { + if (!cam.enabled) return; + + // Rotation + rotation = Quaternion.AngleAxis(x, Vector3.up) * Quaternion.AngleAxis(y, Vector3.right); + + if (rotationSpace != null) { + r = Quaternion.FromToRotation(lastUp, rotationSpace.up) * r; + rotation = r * rotation; + + lastUp = rotationSpace.up; + + } + + if (target != null) { + // Distance + distance += (distanceTarget - distance) * zoomSpeed * deltaTime; + + // Smooth follow + if (!smoothFollow) smoothPosition = target.position; + else smoothPosition = Vector3.Lerp(smoothPosition, target.position, deltaTime * followSpeed); + + // Position + Vector3 t = smoothPosition + rotation * offset; + Vector3 f = rotation * -Vector3.forward; + + if (blockingLayers != -1) + { + RaycastHit hit; + if (Physics.SphereCast(t - f * blockingOriginOffset, blockingRadius, f, out hit, blockingOriginOffset + distanceTarget - blockingRadius, blockingLayers)) + { + blockedDistance = Mathf.SmoothDamp(blockedDistance, hit.distance + blockingRadius * (1f - blockedOffset) - blockingOriginOffset, ref blockedDistanceV, blockingSmoothTime); + } + else blockedDistance = distanceTarget; + + distance = Mathf.Min(distance, blockedDistance); + } + + position = t + f * distance; + + // Translating the camera + transform.position = position; + } + + transform.rotation = rotation; + } + + // Zoom input + private float zoomAdd { + get { + float scrollAxis = Input.GetAxis("Mouse ScrollWheel"); + if (scrollAxis > 0) return -zoomSensitivity; + if (scrollAxis < 0) return zoomSensitivity; + return 0; + } + } + + // Clamping Euler angles + private float ClampAngle (float angle, float min, float max) { + if (angle < -360) angle += 360; + if (angle > 360) angle -= 360; + return Mathf.Clamp (angle, min, max); + } + + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraController.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraController.cs.meta new file mode 100644 index 00000000..01cdeb56 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraController.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 85ef3e8d5c77f405d8ab70a643d6a2f3 +timeCreated: 1444226768 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 10200 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs new file mode 100644 index 00000000..8df0e815 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs @@ -0,0 +1,41 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// The very simple FPS camera. + /// + public class CameraControllerFPS: MonoBehaviour { + + public float rotationSensitivity = 3f; + public float yMinLimit = -89f; + public float yMaxLimit = 89f; + + private float x, y; + + void Awake () { + Vector3 angles = transform.eulerAngles; + x = angles.y; + y = angles.x; + } + + public void LateUpdate() { + Cursor.lockState = CursorLockMode.Locked; + + x += Input.GetAxis("Mouse X") * rotationSensitivity; + y = ClampAngle(y - Input.GetAxis("Mouse Y") * rotationSensitivity, yMinLimit, yMaxLimit); + + // Rotation + transform.rotation = Quaternion.AngleAxis(x, Vector3.up) * Quaternion.AngleAxis(y, Vector3.right); + } + + // Clamping Euler angles + private float ClampAngle (float angle, float min, float max) { + if (angle < -360) angle += 360; + if (angle > 360) angle -= 360; + return Mathf.Clamp (angle, min, max); + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs.meta new file mode 100644 index 00000000..f7a25aaa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Camera Controllers/CameraControllerFPS.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2727c46fc0dba4e95bbfe87904846e02 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers.meta new file mode 100644 index 00000000..2b32f8f7 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 677db6436442a4f8aadb9aa0e1f26956 +folderAsset: yes +timeCreated: 1434633580 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs new file mode 100644 index 00000000..dad4caf2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs @@ -0,0 +1,77 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// The base abstract class for all character animation controllers. + /// + public abstract class CharacterAnimationBase: MonoBehaviour { + + public bool smoothFollow = true; + public float smoothFollowSpeed = 20f; + + protected bool animatePhysics; + private Vector3 lastPosition; + private Vector3 localPosition; + private Quaternion localRotation; + private Quaternion lastRotation; + + // Gets the rotation pivot of the character + public virtual Vector3 GetPivotPoint() { + return transform.position; + } + + // Is the animator playing the grounded state? + public virtual bool animationGrounded { + get { + return true; + } + } + + // Gets angle around y axis from a world space direction + public float GetAngleFromForward(Vector3 worldDirection) { + Vector3 local = transform.InverseTransformDirection(worldDirection); + return Mathf.Atan2 (local.x, local.z) * Mathf.Rad2Deg; + } + + protected virtual void Start() { + if (transform.parent.GetComponent() == null) { + Debug.LogWarning("Animation controllers should be parented to character controllers!", transform); + } + + lastPosition = transform.position; + localPosition = transform.localPosition; + lastRotation = transform.rotation; + localRotation = transform.localRotation; + } + + protected virtual void LateUpdate() { + if (animatePhysics) return; + + SmoothFollow(); + } + + // Smooth interpolation of character position. Helps to smooth out hectic rigidbody motion + protected virtual void FixedUpdate() { + if (!animatePhysics) return; + + SmoothFollow(); + } + + private void SmoothFollow() { + if (smoothFollow) { + transform.position = Vector3.Lerp(lastPosition, transform.parent.TransformPoint(localPosition), Time.deltaTime * smoothFollowSpeed); + transform.rotation = Quaternion.Lerp(lastRotation, transform.parent.rotation * localRotation, Time.deltaTime * smoothFollowSpeed); + } else + { + transform.localPosition = localPosition; + transform.localRotation = localRotation; + } + + lastPosition = transform.position; + lastRotation = transform.rotation; + } + } + +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs.meta new file mode 100644 index 00000000..97631ed0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationBase.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 569c0702757374fa699636b2dc4aa1e2 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs new file mode 100644 index 00000000..7ba00779 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs @@ -0,0 +1,40 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Contols animation for a simple Mecanim character + /// + public class CharacterAnimationSimple: CharacterAnimationBase { + + public CharacterThirdPerson characterController; + public float pivotOffset; // Offset of the rotating pivot point from the root + public AnimationCurve moveSpeed; // The moving speed relative to input forward + + private Animator animator; + + protected override void Start() { + base.Start(); + + animator = GetComponentInChildren(); + } + + public override Vector3 GetPivotPoint() { + if (pivotOffset == 0) return transform.position; + return transform.position + transform.forward * pivotOffset; + } + + // Update the Animator with the current state of the character controller + void Update() { + float speed = moveSpeed.Evaluate(characterController.animState.moveDirection.z); + + // Locomotion + animator.SetFloat("Speed", speed); + + // Movement + characterController.Move(characterController.transform.forward * Time.deltaTime * speed, Quaternion.identity); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs.meta new file mode 100644 index 00000000..83c28c19 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationSimple.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 2209dd700c8b64fc28e9cde6ac3286ba +timeCreated: 1434698904 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs new file mode 100644 index 00000000..964ccc07 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs @@ -0,0 +1,109 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Contols animation for a third person person controller. + /// + public class CharacterAnimationThirdPerson: CharacterAnimationBase { + + public CharacterThirdPerson characterController; + [SerializeField] float turnSensitivity = 0.2f; // Animator turning sensitivity + [SerializeField] float turnSpeed = 5f; // Animator turning interpolation speed + [SerializeField] float runCycleLegOffset = 0.2f; // The offset of leg positions in the running cycle + [Range(0.1f,3f)] [SerializeField] float animSpeedMultiplier = 1; // How much the animation of the character will be multiplied by + + protected Animator animator; + private Vector3 lastForward; + private const string groundedDirectional = "Grounded Directional", groundedStrafe = "Grounded Strafe"; + private float deltaAngle; + private float jumpLeg; + private bool lastJump; + + protected override void Start() { + base.Start(); + + animator = GetComponent(); + + lastForward = transform.forward; + } + + public override Vector3 GetPivotPoint() { + return animator.pivotPosition; + } + + // Is the Animator playing the grounded animations? + public override bool animationGrounded { + get { + return animator.GetCurrentAnimatorStateInfo(0).IsName(groundedDirectional) || animator.GetCurrentAnimatorStateInfo(0).IsName(groundedStrafe); + } + } + + // Update the Animator with the current state of the character controller + protected virtual void Update() { + if (Time.deltaTime == 0f) return; + + animatePhysics = animator.updateMode == AnimatorUpdateMode.Fixed; + + // Jumping + if (characterController.animState.jump) { + if (!lastJump) + { + float runCycle = Mathf.Repeat(animator.GetCurrentAnimatorStateInfo(0).normalizedTime + runCycleLegOffset, 1); + float jumpLeg = (runCycle < 0.5f ? 1 : -1) * characterController.animState.moveDirection.z; + + animator.SetFloat("JumpLeg", jumpLeg); + } + } + lastJump = characterController.animState.jump; + + // Calculate the angular delta in character rotation + float angle = -GetAngleFromForward(lastForward) - deltaAngle; + deltaAngle = 0f; + lastForward = transform.forward; + angle *= turnSensitivity * 0.01f; + angle = Mathf.Clamp(angle / Time.deltaTime, -1f, 1f); + + // Update Animator params + animator.SetFloat("Turn", Mathf.Lerp(animator.GetFloat("Turn"), angle, Time.deltaTime * turnSpeed)); + animator.SetFloat("Forward", characterController.animState.moveDirection.z); + animator.SetFloat("Right", characterController.animState.moveDirection.x); + animator.SetBool("Crouch", characterController.animState.crouch); + animator.SetBool("OnGround", characterController.animState.onGround); + animator.SetBool("IsStrafing", characterController.animState.isStrafing); + + if (!characterController.animState.onGround) { + animator.SetFloat ("Jump", characterController.animState.yVelocity); + } + + if (characterController.doubleJumpEnabled) animator.SetBool("DoubleJump", characterController.animState.doubleJump); + characterController.animState.doubleJump = false; + + // the anim speed multiplier allows the overall speed of walking/running to be tweaked in the inspector + if (characterController.animState.onGround && characterController.animState.moveDirection.z > 0f) { + animator.speed = animSpeedMultiplier; + } else { + // but we don't want to use that while airborne + animator.speed = 1; + } + } + + // Call OnAnimatorMove manually on the character controller because it doesn't have the Animator component + void OnAnimatorMove() { + // For not using root rotation in Turn value calculation + Vector3 f = animator.deltaRotation * Vector3.forward; + deltaAngle += Mathf.Atan2(f.x, f.z) * Mathf.Rad2Deg; + + if (characterController.fullRootMotion) + { + characterController.transform.position += animator.deltaPosition; + characterController.transform.rotation *= animator.deltaRotation; + } + else + { + characterController.Move(animator.deltaPosition, animator.deltaRotation); + } + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs.meta new file mode 100644 index 00000000..5ea899d0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterAnimationThirdPerson.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 44963f0d149a94b76a8afd23095c42df +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs new file mode 100644 index 00000000..4b2725a2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs @@ -0,0 +1,118 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// The base abstract class for all character controllers, provides common functionality. + /// + public abstract class CharacterBase: MonoBehaviour { + + [Header("Base Parameters")] + + [Tooltip("If specified, will use the direction from the character to this Transform as the gravity vector instead of Physics.gravity. Physics.gravity.magnitude will be used as the magnitude of the gravity vector.")] + public Transform gravityTarget; + + [Tooltip("Multiplies gravity applied to the character even if 'Individual Gravity' is unchecked.")] + public float gravityMultiplier = 2f; // gravity modifier - often higher than natural gravity feels right for game characters + + public float airborneThreshold = 0.6f; // Height from ground after which the character is considered airborne + public float slopeStartAngle = 50f; // The start angle of velocity dampering on slopes + public float slopeEndAngle = 85f; // The end angle of velocity dampering on slopes + public float spherecastRadius = 0.1f; // The radius of sperecasting + public LayerMask groundLayers; // The walkable layers + + private PhysicsMaterial zeroFrictionMaterial; + private PhysicsMaterial highFrictionMaterial; + protected Rigidbody r; + protected const float half = 0.5f; + protected float originalHeight; + protected Vector3 originalCenter; + protected CapsuleCollider capsule; + + public abstract void Move(Vector3 deltaPosition, Quaternion deltaRotation); + + protected Vector3 GetGravity() { + if (gravityTarget != null) { + return (gravityTarget.position - transform.position).normalized * Physics.gravity.magnitude; + } + + return Physics.gravity; + } + + protected virtual void Start() { + capsule = GetComponent() as CapsuleCollider; + r = GetComponent(); + + // Store the collider volume + originalHeight = capsule.height; + originalCenter = capsule.center; + + // Physics materials + zeroFrictionMaterial = new PhysicsMaterial(); + zeroFrictionMaterial.dynamicFriction = 0f; + zeroFrictionMaterial.staticFriction = 0f; + zeroFrictionMaterial.frictionCombine = PhysicsMaterialCombine.Minimum; + zeroFrictionMaterial.bounciness = 0f; + zeroFrictionMaterial.bounceCombine = PhysicsMaterialCombine.Minimum; + + highFrictionMaterial = new PhysicsMaterial(); + + // Making sure rigidbody rotation is fixed + r.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ; + } + + // Spherecast from the root to find ground height + protected virtual RaycastHit GetSpherecastHit() { + Vector3 up = transform.up; + Ray ray = new Ray (r.position + up * airborneThreshold, -up); + RaycastHit h = new RaycastHit(); + h.point = transform.position - transform.transform.up * airborneThreshold; + h.normal = transform.up; + + Physics.SphereCast(ray, spherecastRadius, out h, airborneThreshold * 2f, groundLayers); + return h; + } + + // Gets angle around y axis from a world space direction + public float GetAngleFromForward(Vector3 worldDirection) { + Vector3 local = transform.InverseTransformDirection(worldDirection); + return Mathf.Atan2 (local.x, local.z) * Mathf.Rad2Deg; + } + + // Rotate a rigidbody around a point and axis by angle + protected void RigidbodyRotateAround(Vector3 point, Vector3 axis, float angle) { + Quaternion rotation = Quaternion.AngleAxis(angle, axis); + Vector3 d = transform.position - point; + r.MovePosition(point + rotation * d); + r.MoveRotation(rotation * transform.rotation); + } + + // Scale the capsule collider to 'mlp' of the initial value + protected void ScaleCapsule (float mlp) { + if (capsule.height != originalHeight * mlp) { + capsule.height = Mathf.MoveTowards (capsule.height, originalHeight * mlp, Time.deltaTime * 4); + capsule.center = Vector3.MoveTowards (capsule.center, originalCenter * mlp, Time.deltaTime * 2); + } + } + + // Set the collider to high friction material + protected void HighFriction() { + capsule.material = highFrictionMaterial; + } + + // Set the collider to zero friction material + protected void ZeroFriction() { + capsule.material = zeroFrictionMaterial; + } + + // Get the damper of velocity on the slopes + protected float GetSlopeDamper(Vector3 velocity, Vector3 groundNormal) { + float angle = 90f - Vector3.Angle(velocity, groundNormal); + angle -= slopeStartAngle; + float range = slopeEndAngle - slopeStartAngle; + return 1f - Mathf.Clamp(angle / range, 0f, 1f); + } + } + +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs.meta new file mode 100644 index 00000000..392319dc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterBase.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 2869ec4c764fa4c24b4c2b1654fd316d +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs new file mode 100644 index 00000000..6373e0ca --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs @@ -0,0 +1,470 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Third person character controller. This class is based on the ThirdPersonCharacter.cs of the Unity Exmaple Assets. + /// + public class CharacterThirdPerson : CharacterBase { + + // Is the character always rotating to face the move direction or is he strafing? + [System.Serializable] + public enum MoveMode { + Directional, + Strafe + } + + // Animation state + public struct AnimState { + public Vector3 moveDirection; // the forward speed + public bool jump; // should the character be jumping? + public bool crouch; // should the character be crouching? + public bool onGround; // is the character grounded + public bool isStrafing; // should the character always rotate to face the move direction or strafe? + public float yVelocity; // y velocity of the character + public bool doubleJump; + } + + [Header("References")] + public CharacterAnimationBase characterAnimation; // the animation controller + public UserControlThirdPerson userControl; // user input + public CameraController cam; // Camera controller (optional). If assigned will update the camera in LateUpdate only if character moves + + [Header("Movement")] + public MoveMode moveMode; // Is the character always rotating to face the move direction or is he strafing? + public bool smoothPhysics = true; // If true, will use interpolation to smooth out the fixed time step. + public float smoothAccelerationTime = 0.2f; // The smooth acceleration of the speed of the character (using Vector3.SmoothDamp) + public float linearAccelerationSpeed = 3f; // The linear acceleration of the speed of the character (using Vector3.MoveTowards) + public float platformFriction = 7f; // the acceleration of adapting the velocities of moving platforms + public float groundStickyEffect = 4f; // power of 'stick to ground' effect - prevents bumping down slopes. + public float maxVerticalVelocityOnGround = 3f; // the maximum y velocity while the character is grounded + public float velocityToGroundTangentWeight = 0f; // the weight of rotating character velocity vector to the ground tangent + + [Header("Rotation")] + public bool lookInCameraDirection; // should the character be looking in the same direction that the camera is facing + public float turnSpeed = 5f; // additional turn speed added when the player is moving (added to animation root rotation) + public float stationaryTurnSpeedMlp = 1f; // additional turn speed added when the player is stationary (added to animation root rotation) + + [Header("Jumping and Falling")] + public bool smoothJump = true; // If true, adds jump force over a few fixed time steps, not in a single step + public float airSpeed = 6f; // determines the max speed of the character while airborne + public float airControl = 2f; // determines the response speed of controlling the character while airborne + public float jumpPower = 12f; // determines the jump force applied when jumping (and therefore the jump height) + public float jumpRepeatDelayTime = 0f; // amount of time that must elapse between landing and being able to jump again + public bool doubleJumpEnabled; + public float doubleJumpPowerMlp = 1f; + + [Header("Wall Running")] + + public LayerMask wallRunLayers; // walkable vertical surfaces + public float wallRunMaxLength = 1f; // max duration of a wallrun + public float wallRunMinMoveMag = 0.6f; // the minumum magnitude of the user control input move vector + public float wallRunMinVelocityY = -1f; // the minimum vertical velocity of doing a wall run + public float wallRunRotationSpeed = 1.5f; // the speed of rotating the character to the wall normal + public float wallRunMaxRotationAngle = 70f; // max angle of character rotation + public float wallRunWeightSpeed = 5f; // the speed of blending in/out the wall running effect + + [Header("Crouching")] + public float crouchCapsuleScaleMlp = 0.6f; // the capsule collider scale multiplier while crouching + + /// + /// Enable this while playing an animation that should be driven 100% by root motion, such as climbing walls + /// + public bool fullRootMotion { get; set; } + + public bool onGround { get; private set; } + public AnimState animState = new AnimState(); + + protected Vector3 moveDirection; // The current move direction of the character in Strafe move mode + private Animator animator; + private Vector3 normal, platformVelocity, platformAngularVelocity; + private RaycastHit hit; + private float jumpLeg, jumpEndTime, forwardMlp, groundDistance, lastAirTime, stickyForce; + private Vector3 wallNormal = Vector3.up; + private Vector3 moveDirectionVelocity; + private float wallRunWeight; + private float lastWallRunWeight; + private float fixedDeltaTime; + private Vector3 fixedDeltaPosition; + private Quaternion fixedDeltaRotation = Quaternion.identity; + private bool fixedFrame; + private float wallRunEndTime; + private Vector3 gravity; + private Vector3 verticalVelocity; + private float velocityY; + private bool doubleJumped; + private bool jumpReleased; + + // Use this for initialization + protected override void Start () { + base.Start(); + + animator = GetComponent(); + if (animator == null) animator = characterAnimation.GetComponent(); + + wallNormal = -gravity.normalized; + onGround = true; + animState.onGround = true; + + if (cam != null) cam.enabled = false; + } + + void OnAnimatorMove() { + Move (animator.deltaPosition, animator.deltaRotation); + } + + // When the Animator moves + public override void Move(Vector3 deltaPosition, Quaternion deltaRotation) { + // Accumulate delta position, update in FixedUpdate to maintain consitency + fixedDeltaTime += Time.deltaTime; + fixedDeltaPosition += deltaPosition; + fixedDeltaRotation *= deltaRotation; + } + + void FixedUpdate() { + gravity = fullRootMotion? Vector3.zero: GetGravity(); + + verticalVelocity = V3Tools.ExtractVertical(r.linearVelocity, gravity, 1f); + velocityY = verticalVelocity.magnitude; + if (Vector3.Dot(verticalVelocity, gravity) > 0f) velocityY = -velocityY; + + // Smoothing out the fixed time step + r.interpolation = smoothPhysics? RigidbodyInterpolation.Interpolate: RigidbodyInterpolation.None; + characterAnimation.smoothFollow = smoothPhysics; + + // Move + MoveFixed(fixedDeltaPosition); + + fixedDeltaTime = 0f; + fixedDeltaPosition = Vector3.zero; + + r.MoveRotation(transform.rotation * fixedDeltaRotation); + fixedDeltaRotation = Quaternion.identity; + + Rotate(); + + GroundCheck (); // detect and stick to ground + + // Friction + if (userControl.state.move == Vector3.zero && groundDistance < airborneThreshold * 0.5f) HighFriction(); + else ZeroFriction(); + + bool stopSlide = !fullRootMotion && onGround && userControl.state.move == Vector3.zero && r.linearVelocity.magnitude < 0.5f && groundDistance < airborneThreshold * 0.5f; + + // Individual gravity + if (gravityTarget != null) { + r.useGravity = false; + + if (!stopSlide) r.AddForce(gravity); + } + + if (stopSlide) { + r.useGravity = false; + r.linearVelocity = Vector3.zero; + } else if (gravityTarget == null) r.useGravity = true; + + if (onGround) { + // Jumping + animState.jump = Jump(); + jumpReleased = false; + doubleJumped = false; + } else { + if (!userControl.state.jump) jumpReleased = true; + + //r.AddForce(gravity * gravityMultiplier); + if (jumpReleased && userControl.state.jump && !doubleJumped && doubleJumpEnabled) { + jumpEndTime = Time.time + 0.1f; + animState.doubleJump = true; + + Vector3 jumpVelocity = userControl.state.move * airSpeed; + r.linearVelocity = jumpVelocity; + r.linearVelocity += transform.up * jumpPower * doubleJumpPowerMlp; + doubleJumped = true; + } + } + + // Scale the capsule colllider while crouching + ScaleCapsule(userControl.state.crouch? crouchCapsuleScaleMlp: 1f); + + fixedFrame = true; + } + + protected virtual void Update() { + // Fill in animState + animState.onGround = onGround; + animState.moveDirection = GetMoveDirection(); + animState.yVelocity = Mathf.Lerp(animState.yVelocity, velocityY, Time.deltaTime * 10f); + animState.crouch = userControl.state.crouch; + animState.isStrafing = moveMode == MoveMode.Strafe; + } + + protected virtual void LateUpdate() { + if (cam == null) return; + + cam.UpdateInput(); + + if (!fixedFrame && r.interpolation == RigidbodyInterpolation.None) return; + + // Update camera only if character moves + cam.UpdateTransform(r.interpolation == RigidbodyInterpolation.None? Time.fixedDeltaTime: Time.deltaTime); + + fixedFrame = false; + } + + private void MoveFixed(Vector3 deltaPosition) { + // Process horizontal wall-running + WallRun(); + + Vector3 velocity = fixedDeltaTime > 0f? deltaPosition / fixedDeltaTime: Vector3.zero; + + // Add velocity of the rigidbody the character is standing on + if (!fullRootMotion) + { + velocity += V3Tools.ExtractHorizontal(platformVelocity, gravity, 1f); + + if (onGround) + { + // Rotate velocity to ground tangent + if (velocityToGroundTangentWeight > 0f) + { + Quaternion rotation = Quaternion.FromToRotation(transform.up, normal); + velocity = Quaternion.Lerp(Quaternion.identity, rotation, velocityToGroundTangentWeight) * velocity; + } + } + else + { + // Air move + //Vector3 airMove = new Vector3 (userControl.state.move.x * airSpeed, 0f, userControl.state.move.z * airSpeed); + Vector3 airMove = V3Tools.ExtractHorizontal(userControl.state.move * airSpeed, gravity, 1f); + velocity = Vector3.Lerp(r.linearVelocity, airMove, Time.deltaTime * airControl); + } + + if (onGround && Time.time > jumpEndTime && !r.isKinematic) + { + r.linearVelocity = r.linearVelocity - transform.up * stickyForce * Time.deltaTime; + } + + // Vertical velocity + Vector3 verticalVelocity = V3Tools.ExtractVertical(r.linearVelocity, gravity, 1f); + Vector3 horizontalVelocity = V3Tools.ExtractHorizontal(velocity, gravity, 1f); + + if (onGround) + { + if (Vector3.Dot(verticalVelocity, gravity) < 0f) + { + verticalVelocity = Vector3.ClampMagnitude(verticalVelocity, maxVerticalVelocityOnGround); + } + } + + r.linearVelocity = horizontalVelocity + verticalVelocity; + } else + { + r.linearVelocity = velocity; + } + + // Dampering forward speed on the slopes (Not working since Unity 2017.2) + //float slopeDamper = !onGround? 1f: GetSlopeDamper(-deltaPosition / Time.deltaTime, normal); + //forwardMlp = Mathf.Lerp(forwardMlp, slopeDamper, Time.deltaTime * 5f); + forwardMlp = 1f; + } + + // Processing horizontal wall running + private void WallRun() { + bool canWallRun = CanWallRun(); + + // Remove flickering in and out of wall-running + if (wallRunWeight > 0f && !canWallRun) wallRunEndTime = Time.time; + if (Time.time < wallRunEndTime + 0.5f) canWallRun = false; + + wallRunWeight = Mathf.MoveTowards(wallRunWeight, (canWallRun? 1f: 0f), Time.deltaTime * wallRunWeightSpeed); + + if (wallRunWeight <= 0f) { + // Reset + if (lastWallRunWeight > 0f) { + Vector3 frw = V3Tools.ExtractHorizontal(transform.forward, gravity, 1f); + transform.rotation = Quaternion.LookRotation(frw, -gravity); + wallNormal = -gravity.normalized; + } + } + + lastWallRunWeight = wallRunWeight; + + if (wallRunWeight <= 0f) return; + + // Make sure the character won't fall down + if (onGround && velocityY < 0f) r.linearVelocity = V3Tools.ExtractHorizontal(r.linearVelocity, gravity, 1f); + + // transform.forward flattened + Vector3 f = V3Tools.ExtractHorizontal(transform.forward, gravity, 1f); + + // Raycasting to find a walkable wall + RaycastHit velocityHit = new RaycastHit(); + velocityHit.normal = -gravity.normalized; + Physics.Raycast(onGround? transform.position: capsule.bounds.center, f, out velocityHit, 3f, wallRunLayers); + + // Finding the normal to rotate to + wallNormal = Vector3.Lerp(wallNormal, velocityHit.normal, Time.deltaTime * wallRunRotationSpeed); + + // Clamping wall normal to max rotation angle + wallNormal = Vector3.RotateTowards(-gravity.normalized, wallNormal, wallRunMaxRotationAngle * Mathf.Deg2Rad, 0f); + + // Get transform.forward ortho-normalized to the wall normal + Vector3 fW = transform.forward; + Vector3 nW = wallNormal; + Vector3.OrthoNormalize(ref nW, ref fW); + + // Rotate from upright to wall normal + transform.rotation = Quaternion.Slerp(Quaternion.LookRotation(f, -gravity), Quaternion.LookRotation(fW, wallNormal), wallRunWeight); + } + + // Should the character be enabled to do a wall run? + private bool CanWallRun() { + if (fullRootMotion) return false; + if (Time.time < jumpEndTime - 0.1f) return false; + if (Time.time > jumpEndTime - 0.1f + wallRunMaxLength) return false; + if (velocityY < wallRunMinVelocityY) return false; + if (userControl.state.move.magnitude < wallRunMinMoveMag) return false; + return true; + } + + // Get the move direction of the character relative to the character rotation + private Vector3 GetMoveDirection() { + switch(moveMode) { + case MoveMode.Directional: + moveDirection = Vector3.SmoothDamp(moveDirection, new Vector3(0f, 0f, userControl.state.move.magnitude), ref moveDirectionVelocity, smoothAccelerationTime); + moveDirection = Vector3.MoveTowards(moveDirection, new Vector3(0f, 0f, userControl.state.move.magnitude), Time.deltaTime * linearAccelerationSpeed); + return moveDirection * forwardMlp; + case MoveMode.Strafe: + moveDirection = Vector3.SmoothDamp(moveDirection, userControl.state.move, ref moveDirectionVelocity, smoothAccelerationTime); + moveDirection = Vector3.MoveTowards(moveDirection, userControl.state.move, Time.deltaTime * linearAccelerationSpeed); + return transform.InverseTransformDirection(moveDirection); + } + + return Vector3.zero; + } + + // Rotate the character + protected virtual void Rotate() { + if (gravityTarget != null) r.MoveRotation (Quaternion.FromToRotation(transform.up, transform.position - gravityTarget.position) * transform.rotation); + if (platformAngularVelocity != Vector3.zero) r.MoveRotation (Quaternion.Euler(platformAngularVelocity) * transform.rotation); + + float angle = GetAngleFromForward(GetForwardDirection()); + + if (userControl.state.move == Vector3.zero) angle *= (1.01f - (Mathf.Abs(angle) / 180f)) * stationaryTurnSpeedMlp; + + // Rotating the character + //RigidbodyRotateAround(characterAnimation.GetPivotPoint(), transform.up, angle * Time.deltaTime * turnSpeed); + r.MoveRotation(Quaternion.AngleAxis(angle * Time.deltaTime * turnSpeed, transform.up) * r.rotation); + } + + // Which way to look at? + private Vector3 GetForwardDirection() { + bool isMoving = userControl.state.move != Vector3.zero; + + switch (moveMode) { + case MoveMode.Directional: + if (isMoving) return userControl.state.move; + return lookInCameraDirection? userControl.state.lookPos - r.position: transform.forward; + case MoveMode.Strafe: + if (isMoving) return userControl.state.lookPos - r.position; + return lookInCameraDirection? userControl.state.lookPos - r.position: transform.forward; + } + + return Vector3.zero; + } + + protected virtual bool Jump() { + // check whether conditions are right to allow a jump: + if (!userControl.state.jump) return false; + if (userControl.state.crouch) return false; + if (!characterAnimation.animationGrounded) return false; + if (Time.time < lastAirTime + jumpRepeatDelayTime) return false; + + // Jump + onGround = false; + jumpEndTime = Time.time + 0.1f; + + Vector3 jumpVelocity = userControl.state.move * airSpeed; + jumpVelocity += transform.up * jumpPower; + + if (smoothJump) + { + StopAllCoroutines(); + StartCoroutine(JumpSmooth(jumpVelocity - r.linearVelocity)); + } else + { + r.linearVelocity = jumpVelocity; + } + + return true; + } + + // Add jump velocity smoothly to avoid puppets launching to space when unpinned during jump acceleration + private IEnumerator JumpSmooth(Vector3 jumpVelocity) + { + int steps = 0; + int stepsToTake = 3; + while (steps < stepsToTake) + { + r.AddForce((jumpVelocity) / stepsToTake, ForceMode.VelocityChange); + steps++; + yield return new WaitForFixedUpdate(); + } + } + + // Is the character grounded? + private void GroundCheck () { + Vector3 platformVelocityTarget = Vector3.zero; + platformAngularVelocity = Vector3.zero; + float stickyForceTarget = 0f; + + // Spherecasting + hit = GetSpherecastHit(); + + //normal = hit.normal; + normal = transform.up; + //groundDistance = r.position.y - hit.point.y; + groundDistance = Vector3.Project(r.position - hit.point, transform.up).magnitude; + + // if not jumping... + bool findGround = Time.time > jumpEndTime && velocityY < jumpPower * 0.5f; + + if (findGround) { + bool g = onGround; + onGround = false; + + // The distance of considering the character grounded + float groundHeight = !g? airborneThreshold * 0.5f: airborneThreshold; + + //Vector3 horizontalVelocity = r.velocity; + Vector3 horizontalVelocity = V3Tools.ExtractHorizontal(r.linearVelocity, gravity, 1f); + + float velocityF = horizontalVelocity.magnitude; + + if (groundDistance < groundHeight) { + // Force the character on the ground + stickyForceTarget = groundStickyEffect * velocityF * groundHeight; + + // On moving platforms + if (hit.rigidbody != null) { + platformVelocityTarget = hit.rigidbody.GetPointVelocity(hit.point); + platformAngularVelocity = Vector3.Project(hit.rigidbody.angularVelocity, transform.up); + } + + // Flag the character grounded + onGround = true; + } + } + + // Interpolate the additive velocity of the platform the character might be standing on + platformVelocity = Vector3.Lerp(platformVelocity, platformVelocityTarget, Time.deltaTime * platformFriction); + if (fullRootMotion) stickyForce = 0f; + + stickyForce = stickyForceTarget;//Mathf.Lerp(stickyForce, stickyForceTarget, Time.deltaTime * 5f); + + // remember when we were last in air, for jump delay + if (!onGround) lastAirTime = Time.time; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs.meta new file mode 100644 index 00000000..cb39afc9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/CharacterThirdPerson.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: d8f8cb876d2c742a9a5d9bfa03990ada +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs new file mode 100644 index 00000000..923d3268 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs @@ -0,0 +1,141 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + // The simplest multi-purpose locomotion controller for demo purposes. Can use root motion, simple procedural motion or the CharacterController + public class SimpleLocomotion : MonoBehaviour { + + // The character rotation mode + [System.Serializable] + public enum RotationMode { + Smooth, + Linear + } + + [Tooltip("The component that updates the camera.")] + public CameraController cameraController; + + [Tooltip("Acceleration of movement.")] + public float accelerationTime = 0.2f; + + [Tooltip("Turning speed.")] + public float turnTime = 0.2f; + + [Tooltip("If true, will run on left shift, if not will walk on left shift.")] + public bool walkByDefault = true; + + [Tooltip("Smooth or linear rotation.")] + public RotationMode rotationMode; + + [Tooltip("Procedural motion speed (if not using root motion).")] + public float moveSpeed = 3f; + + // Is the character grounded (using very simple y < something here for simplicity's sake)? + public bool isGrounded { get; private set; } + + private Animator animator; + private float speed; + private float angleVel; + private float speedVel; + private Vector3 linearTargetDirection; + private CharacterController characterController; + + void Start() { + animator = GetComponent(); + characterController = GetComponent(); + cameraController.enabled = false; + } + + void Update() { + // Very basic planar method, should use collision events + isGrounded = transform.position.y < 0.1f; + + Rotate(); + Move(); + } + + void LateUpdate() { + // Update the camera last + cameraController.UpdateInput(); + cameraController.UpdateTransform(); + } + + private void Rotate() { + if (!isGrounded) return; + + // Updating the rotation of the character + Vector3 inputVector = GetInputVector(); + if (inputVector == Vector3.zero) return; + + Vector3 forward = transform.forward; + + switch(rotationMode) { + case RotationMode.Smooth: + Vector3 targetDirection = cameraController.transform.rotation * inputVector; + + float angleForward = Mathf.Atan2(forward.x, forward.z) * Mathf.Rad2Deg; + float angleTarget = Mathf.Atan2(targetDirection.x, targetDirection.z) * Mathf.Rad2Deg; + + // Smoothly rotating the character + float angle = Mathf.SmoothDampAngle(angleForward, angleTarget, ref angleVel, turnTime); + transform.rotation = Quaternion.AngleAxis(angle, Vector3.up); + + break; + case RotationMode.Linear: + Vector3 inputVectorRaw = GetInputVectorRaw(); + if (inputVectorRaw != Vector3.zero) linearTargetDirection = cameraController.transform.rotation * inputVectorRaw; + + forward = Vector3.RotateTowards(forward, linearTargetDirection, Time.deltaTime * (1f /turnTime), 1f); + forward.y = 0f; + transform.rotation = Quaternion.LookRotation(forward); + break; + } + } + + private void Move() { + // Speed interpolation + float speedTarget = walkByDefault? (Input.GetKey(KeyCode.LeftShift)? 1f: 0.5f): (Input.GetKey(KeyCode.LeftShift)? 0.5f: 1f); + speed = Mathf.SmoothDamp(speed, speedTarget, ref speedVel, accelerationTime); + + // Moving the character by root motion + float s = GetInputVector().magnitude * speed; + animator.SetFloat("Speed", s); + + // Procedural motion if we don't have root motion + bool proceduralMotion = !animator.hasRootMotion && isGrounded; + + if (proceduralMotion) { + Vector3 move = transform.forward * s * moveSpeed; + + if (characterController != null) { + characterController.SimpleMove(move); + } else { + transform.position += move * Time.deltaTime; + } + } + } + + // Reads the Input to get the movement direction. + private Vector3 GetInputVector() { + Vector3 d = new Vector3( + Input.GetAxis("Horizontal"), + 0f, + Input.GetAxis("Vertical") + ); + + d.z += Mathf.Abs(d.x) * 0.05f; + d.x -= Mathf.Abs(d.z) * 0.05f; + + return d; + } + + private Vector3 GetInputVectorRaw() { + return new Vector3( + Input.GetAxisRaw("Horizontal"), + 0f, + Input.GetAxisRaw("Vertical") + ); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs.meta new file mode 100644 index 00000000..c4d80675 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/SimpleLocomotion.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: eb82cec62d812495d878b167e9cdf49c +timeCreated: 1434633542 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs new file mode 100644 index 00000000..620b5665 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs @@ -0,0 +1,55 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// User input for an AI controlled character controller. + /// + public class UserControlAI : UserControlThirdPerson { + + public Transform moveTarget; + public float stoppingDistance = 0.5f; + public float stoppingThreshold = 1.5f; + public Navigator navigator; + + protected override void Start() + { + base.Start(); + + navigator.Initiate(transform); + } + + protected override void Update () { + float moveSpeed = walkByDefault? 0.5f: 1f; + + // If using Unity Navigation + if (navigator.activeTargetSeeking) + { + navigator.Update(moveTarget.position); + state.move = navigator.normalizedDeltaPosition * moveSpeed; + } + // No navigation, just move straight to the target + else + { + Vector3 direction = moveTarget.position - transform.position; + float distance = direction.magnitude; + + Vector3 normal = transform.up; + Vector3.OrthoNormalize(ref normal, ref direction); + + float sD = state.move != Vector3.zero ? stoppingDistance : stoppingDistance * stoppingThreshold; + + state.move = distance > sD ? direction * moveSpeed : Vector3.zero; + state.lookPos = moveTarget.position; + } + } + + // Visualize the navigator + void OnDrawGizmos() + { + if (navigator.activeTargetSeeking) navigator.Visualize(); + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs.meta new file mode 100644 index 00000000..8b62f7b4 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlAI.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: c65b1ab317b6940d29112cc6fa332c1d +timeCreated: 1438773513 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs new file mode 100644 index 00000000..ad123860 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs @@ -0,0 +1,63 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// User input for a third person character controller. + /// + public class UserControlThirdPerson : MonoBehaviour { + + // Input state + public struct State { + public Vector3 move; + public Vector3 lookPos; + public bool crouch; + public bool jump; + public int actionIndex; + } + + public bool walkByDefault; // toggle for walking state + public bool canCrouch = true; + public bool canJump = true; + + public State state = new State(); // The current state of the user input + + protected Transform cam; // A reference to the main camera in the scenes transform + + protected virtual void Start () { + // get the transform of the main camera + cam = Camera.main.transform; + } + + protected virtual void Update () { + // read inputs + state.crouch = canCrouch && Input.GetKey(KeyCode.C); + state.jump = canJump && Input.GetButton("Jump"); + + float h = Input.GetAxisRaw("Horizontal"); + float v = Input.GetAxisRaw("Vertical"); + + // calculate move direction + Vector3 move = cam.rotation * new Vector3(h, 0f, v).normalized; + + // Flatten move vector to the character.up plane + if (move != Vector3.zero) { + Vector3 normal = transform.up; + Vector3.OrthoNormalize(ref normal, ref move); + state.move = move; + } else state.move = Vector3.zero; + + bool walkToggle = Input.GetKey(KeyCode.LeftShift); + + // We select appropriate speed based on whether we're walking by default, and whether the walk/run toggle button is pressed: + float walkMultiplier = (walkByDefault ? walkToggle ? 1 : 0.5f : walkToggle ? 0.5f : 1); + + state.move *= walkMultiplier; + + // calculate the head look target position + state.lookPos = transform.position + cam.forward * 100f; + } + } +} + diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs.meta new file mode 100644 index 00000000..3467ef5e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Character Controllers/UserControlThirdPerson.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: bc555ffe423d44c2f983615b1af3cef4 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc.meta new file mode 100644 index 00000000..b833bf66 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 1f8e444f617e246809eb51310e80dfe4 +folderAsset: yes +timeCreated: 1434644189 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs new file mode 100644 index 00000000..8d66c292 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs @@ -0,0 +1,13 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + // Safely getting out of full screen desktop builds + public class ApplicationQuit : MonoBehaviour { + + void Update () { + if (Input.GetKeyDown(KeyCode.Q) || Input.GetKeyDown(KeyCode.Escape)) Application.Quit(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs.meta new file mode 100644 index 00000000..7a5826a5 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/ApplicationQuit.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b2b7e342c712748b785bd6f84ed05e68 +timeCreated: 1452867515 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs new file mode 100644 index 00000000..6548508e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs @@ -0,0 +1,30 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion.Demos { + + /// + /// Going slow motion on user input + /// + public class SlowMo : MonoBehaviour { + + public KeyCode[] keyCodes; + public bool mouse0; + public bool mouse1; + public float slowMoTimeScale = 0.3f; + + void Update () { + Time.timeScale = IsSlowMotion()? slowMoTimeScale: 1f; + } + + private bool IsSlowMotion() { + if (mouse0 && Input.GetMouseButton(0)) return true; + if (mouse1 && Input.GetMouseButton(1)) return true; + + for (int i = 0; i < keyCodes.Length; i++) { + if (Input.GetKey(keyCodes[i])) return true; + } + return false; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs.meta new file mode 100644 index 00000000..aa252a2d --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Demo Assets/Scripts/Misc/SlowMo.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1a3904f1ea7c846159c7892541ba85cd +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts.meta new file mode 100644 index 00000000..61bc0caa --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts.meta @@ -0,0 +1,9 @@ +fileFormatVersion: 2 +guid: 41a4db1ffd252414f9d8690735f70078 +folderAsset: yes +timeCreated: 1434626794 +licenseType: Store +DefaultImporter: + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs new file mode 100644 index 00000000..e232d6a6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs @@ -0,0 +1,95 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// The Cartesian axes. + /// + [System.Serializable] + public enum Axis { + X, + Y, + Z + } + + /// + /// Contains tools for working with Axes that have no positive/negative directions. + /// + public class AxisTools { + + /// + /// Converts an Axis to Vector3. + /// + public static Vector3 ToVector3(Axis axis) { + if (axis == Axis.X) return Vector3.right; + if (axis == Axis.Y) return Vector3.up; + return Vector3.forward; + } + + /// + /// Converts a Vector3 to Axis. + /// + public static Axis ToAxis(Vector3 v) { + float absX = Mathf.Abs(v.x); + float absY = Mathf.Abs(v.y); + float absZ = Mathf.Abs(v.z); + + Axis d = Axis.X; + if (absY > absX && absY > absZ) d = Axis.Y; + if (absZ > absX && absZ > absY) d = Axis.Z; + return d; + } + + /// + /// Returns the Axis of the Transform towards a world space position. + /// + public static Axis GetAxisToPoint(Transform t, Vector3 worldPosition) { + Vector3 axis = GetAxisVectorToPoint(t, worldPosition); + if (axis == Vector3.right) return Axis.X; + if (axis == Vector3.up) return Axis.Y; + return Axis.Z; + } + + /// + /// Returns the Axis of the Transform towards a world space direction. + /// + public static Axis GetAxisToDirection(Transform t, Vector3 direction) { + Vector3 axis = GetAxisVectorToDirection(t, direction); + if (axis == Vector3.right) return Axis.X; + if (axis == Vector3.up) return Axis.Y; + return Axis.Z; + } + + /// + /// Returns the local axis of the Transform towards a world space position. + /// + public static Vector3 GetAxisVectorToPoint(Transform t, Vector3 worldPosition) { + return GetAxisVectorToDirection(t, worldPosition - t.position); + } + + /// + /// Returns the local axis of the Transform that aligns the most with a direction. + /// + public static Vector3 GetAxisVectorToDirection(Transform t, Vector3 direction) { + return GetAxisVectorToDirection(t.rotation, direction); + } + + /// + /// Returns the local axis of a rotation space that aligns the most with a direction. + /// + public static Vector3 GetAxisVectorToDirection(Quaternion r, Vector3 direction) + { + direction = direction.normalized; + Vector3 axis = Vector3.right; + + float dotX = Mathf.Abs(Vector3.Dot(r * Vector3.right, direction)); + float dotY = Mathf.Abs(Vector3.Dot(r * Vector3.up, direction)); + if (dotY > dotX) axis = Vector3.up; + float dotZ = Mathf.Abs(Vector3.Dot(r * Vector3.forward, direction)); + if (dotZ > dotX && dotZ > dotY) axis = Vector3.forward; + + return axis; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs.meta new file mode 100644 index 00000000..2f5232e6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/AxisTools.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: cd8e6d88a74a14a3195290100d6d4a99 +timeCreated: 1439820535 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs new file mode 100644 index 00000000..3baaa675 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs @@ -0,0 +1,137 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Contains the information about which way the limbs should be bent. + /// + [System.Serializable] + public class BipedLimbOrientations { + + [System.Serializable] + public class LimbOrientation { + public Vector3 upperBoneForwardAxis; + public Vector3 lowerBoneForwardAxis; + public Vector3 lastBoneLeftAxis; + + public LimbOrientation(Vector3 upperBoneForwardAxis, Vector3 lowerBoneForwardAxis, Vector3 lastBoneLeftAxis) { + this.upperBoneForwardAxis = upperBoneForwardAxis; + this.lowerBoneForwardAxis = lowerBoneForwardAxis; + this.lastBoneLeftAxis = lastBoneLeftAxis; + } + } + + public LimbOrientation leftArm, rightArm, leftLeg, rightLeg; + + /// + /// Initializes a new instance of the class. + /// + public BipedLimbOrientations (LimbOrientation leftArm, LimbOrientation rightArm, LimbOrientation leftLeg, LimbOrientation rightLeg) { + this.leftArm = leftArm; + this.rightArm = rightArm; + this.leftLeg = leftLeg; + this.rightLeg = rightLeg; + } + + /// + /// Gets the local bend directions of the standard UMA skeleton. + /// + public static BipedLimbOrientations UMA { + get { + return new BipedLimbOrientations( + new LimbOrientation(Vector3.forward, Vector3.forward, Vector3.forward), + new LimbOrientation(Vector3.forward, Vector3.forward, Vector3.back), + new LimbOrientation(Vector3.forward, Vector3.forward, Vector3.down), + new LimbOrientation(Vector3.forward, Vector3.forward, Vector3.down) + ); + } + } + + /// + /// Gets the local bend directions of the standard 3ds Max Biped skeleton. + /// + public static BipedLimbOrientations MaxBiped { + get { + return new BipedLimbOrientations( + new LimbOrientation(Vector3.down, Vector3.down, Vector3.down), + new LimbOrientation(Vector3.down, Vector3.down, Vector3.up), + new LimbOrientation(Vector3.up, Vector3.up, Vector3.back), + new LimbOrientation(Vector3.up, Vector3.up, Vector3.back) + ); + } + } + + /* + /// + /// Contains the local axes of the limb bones that they should bend towards. + /// + [System.Serializable] + public class Limb { + public Vector3 upper = Vector3.forward, lower = Vector3.forward, last = Vector3.right; + + public Limb (Vector3 common) { + this.upper = common; + this.lower = common; + this.last = common; + } + + public Limb (Vector3 upper, Vector3 lower, Vector3 last) { + this.upper = upper; + this.lower = lower; + this.last = last; + } + } + + public Limb leftArm, rightArm, leftLeg, rightLeg; + + /// + /// Initializes a new instance of the class. + /// + public FullBodyBipedBendDirections(Vector3 upper, Vector3 lower, Vector3 last) { + this.leftArm = new Limb(upper, lower, last); + this.rightArm = new Limb(upper, lower, last); + this.leftLeg = new Limb(upper, lower, last); + this.rightLeg = new Limb(upper, lower, last); + } + + /// + /// Initializes a new instance of the struct. + /// + public FullBodyBipedBendDirections(Limb leftArm, Limb rightArm, Limb leftLeg, Limb rightLeg) { + this.leftArm = leftArm; + this.rightArm = rightArm; + this.leftLeg = leftLeg; + this.rightLeg = rightLeg; + } + + /// + /// Gets the local bend directions of the standard UMA skeleton. + /// + public static FullBodyBipedBendDirections UMA { + get { + return new FullBodyBipedBendDirections( + new Limb(Vector3.back, Vector3.back, Vector3.back), + new Limb(Vector3.back, Vector3.back, Vector3.forward), + new Limb(Vector3.forward, Vector3.forward, Vector3.down), + new Limb(Vector3.forward, Vector3.forward, Vector3.down) + ); + } + } + + /// + /// Gets the local bend directions of the standard 3ds Max Biped skeleton. + /// + public static FullBodyBipedBendDirections MaxBiped { + get { + return new FullBodyBipedBendDirections( + new Limb(Vector3.up, Vector3.up, Vector3.up), + new Limb(Vector3.up, Vector3.up, Vector3.down), + new Limb(Vector3.up, Vector3.up, Vector3.back), + new Limb(Vector3.up, Vector3.up, Vector3.back) + ); + } + } + */ + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs.meta new file mode 100644 index 00000000..0668d1d6 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedLimbOrientations.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 1bdb26a92391749189aae4c5290f8395 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs new file mode 100644 index 00000000..cc9ed7ee --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs @@ -0,0 +1,240 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion { + + /// + /// Class for identifying biped bones based on most common naming conventions. + /// + public static class BipedNaming { + + /// + /// Type of the bone. + /// + [System.Serializable] + public enum BoneType { + Unassigned, + Spine, + Head, + Arm, + Leg, + Tail, + Eye + } + + /// + /// Bone side: Left and Right for limbs and Center for spine, head and tail. + /// + [System.Serializable] + public enum BoneSide { + Center, + Left, + Right + } + + // Bone identifications + public static string[] + typeLeft = {" L ", "_L_", "-L-", " l ", "_l_", "-l-", "Left", "left", "CATRigL"}, + typeRight = {" R ", "_R_", "-R-", " r ", "_r_", "-r-", "Right", "right", "CATRigR"}, + + typeSpine = {"Spine", "spine", "Pelvis", "pelvis", "Root", "root", "Torso", "torso", "Body", "body", "Hips", "hips", "Neck", "neck", "Chest", "chest"}, + typeHead = {"Head", "head"}, + typeArm = {"Arm", "arm", "Hand", "hand", "Wrist", "Wrist", "Elbow", "elbow", "Palm", "palm"}, + typeLeg = {"Leg", "leg", "Thigh", "thigh", "Calf", "calf", "Femur", "femur", "Knee", "knee", "Foot", "foot", "Ankle", "ankle", "Hip", "hip"}, + typeTail = {"Tail", "tail"}, + typeEye = {"Eye", "eye"}, + + typeExclude = {"Nub", "Dummy", "dummy", "Tip", "IK", "Mesh"}, + typeExcludeSpine = {"Head", "head"}, + typeExcludeHead = {"Top", "End" }, + typeExcludeArm = {"Collar", "collar", "Clavicle", "clavicle", "Finger", "finger", "Index", "index", "Mid", "mid", "Pinky", "pinky", "Ring", "Thumb", "thumb", "Adjust", "adjust", "Twist", "twist"}, + typeExcludeLeg = {"Toe", "toe", "Platform", "Adjust", "adjust", "Twist", "twist"}, + typeExcludeTail = {}, + typeExcludeEye = {"Lid", "lid", "Brow", "brow", "Lash", "lash"}, + + pelvis = {"Pelvis", "pelvis", "Hip", "hip"}, + hand = {"Hand", "hand", "Wrist", "wrist", "Palm", "palm"}, + foot = {"Foot", "foot", "Ankle", "ankle"}; + + #region Public methods + + /// + /// Returns only the bones with the specified BoneType. + /// + public static Transform[] GetBonesOfType(BoneType boneType, Transform[] bones) { + Transform[] r = new Transform[0]; + foreach (Transform bone in bones) { + if (bone != null && GetBoneType(bone.name) == boneType) { + Array.Resize(ref r, r.Length + 1); + r[r.Length - 1] = bone; + } + } + return r; + } + + /// + /// Returns only the bones with the specified BoneSide. + /// + public static Transform[] GetBonesOfSide(BoneSide boneSide, Transform[] bones) { + Transform[] r = new Transform[0]; + foreach (Transform bone in bones) { + if (bone != null && GetBoneSide(bone.name) == boneSide) { + Array.Resize(ref r, r.Length + 1); + r[r.Length - 1] = bone; + } + } + return r; + } + + /// + /// Gets the bones of type and side. + /// + public static Transform[] GetBonesOfTypeAndSide(BoneType boneType, BoneSide boneSide, Transform[] bones) { + Transform[] bonesOfType = GetBonesOfType(boneType, bones); + return GetBonesOfSide(boneSide, bonesOfType); + } + + /// + /// Gets the bone of type and side. If more than one is found, will return the first in the array. + /// + public static Transform GetFirstBoneOfTypeAndSide(BoneType boneType, BoneSide boneSide, Transform[] bones) { + Transform[] b = GetBonesOfTypeAndSide(boneType, boneSide, bones); + if (b.Length == 0) return null; + return b[0]; + } + + /// + /// Returns only the bones that match all the namings in params string[][] namings + /// + /// + /// The matching Transforms + /// + /// + /// Transforms. + /// + /// + /// Namings. + /// + public static Transform GetNamingMatch(Transform[] transforms, params string[][] namings) { + foreach (Transform t in transforms) { + bool match = true; + foreach (string[] naming in namings) { + if (!matchesNaming(t.name, naming)) { + match = false; + break; + } + } + if (match) return t; + } + return null; + } + + /// + /// Gets the type of the bone. + /// + public static BoneType GetBoneType(string boneName) { + if (isSpine(boneName)) return BoneType.Spine; + if (isHead(boneName)) return BoneType.Head; + if (isArm (boneName)) return BoneType.Arm; + if (isLeg(boneName)) return BoneType.Leg; + if (isTail(boneName)) return BoneType.Tail; + if (isEye(boneName)) return BoneType.Eye; + + return BoneType.Unassigned; + } + + /// + /// Gets the bone side. + /// + public static BoneSide GetBoneSide(string boneName) { + if (isLeft(boneName)) return BoneSide.Left; + if (isRight(boneName)) return BoneSide.Right; + return BoneSide.Center; + } + + /// + /// Returns the bone of type and side with additional naming parameters. + /// + public static Transform GetBone(Transform[] transforms, BoneType boneType, BoneSide boneSide = BoneSide.Center, params string[][] namings) { + Transform[] bones = GetBonesOfTypeAndSide(boneType, boneSide, transforms); + return GetNamingMatch(bones, namings); + } + + #endregion Public methods + + private static bool isLeft(string boneName) { + return matchesNaming(boneName, typeLeft) || lastLetter(boneName) == "L" || firstLetter(boneName) == "L"; + } + + private static bool isRight(string boneName) { + return matchesNaming(boneName, typeRight) || lastLetter(boneName) == "R" || firstLetter(boneName) == "R"; + } + + private static bool isSpine(string boneName) { + return matchesNaming(boneName, typeSpine) && !excludesNaming(boneName, typeExcludeSpine); + } + + private static bool isHead(string boneName) { + return matchesNaming(boneName, typeHead) && !excludesNaming(boneName, typeExcludeHead); + } + + private static bool isArm(string boneName) { + return matchesNaming(boneName, typeArm) && !excludesNaming(boneName, typeExcludeArm); + } + + private static bool isLeg(string boneName) { + return matchesNaming(boneName, typeLeg) && !excludesNaming(boneName, typeExcludeLeg); + } + + private static bool isTail(string boneName) { + return matchesNaming(boneName, typeTail) && !excludesNaming(boneName, typeExcludeTail); + } + + private static bool isEye(string boneName) { + return matchesNaming(boneName, typeEye) && !excludesNaming(boneName, typeExcludeEye); + } + + private static bool isTypeExclude(string boneName) { + return matchesNaming(boneName, typeExclude); + } + + private static bool matchesNaming(string boneName, string[] namingConvention) { + if (excludesNaming(boneName, typeExclude)) return false; + + foreach(string n in namingConvention) { + if (boneName.Contains(n)) return true; + } + return false; + } + + private static bool excludesNaming(string boneName, string[] namingConvention) { + foreach(string n in namingConvention) { + if (boneName.Contains(n)) return true; + } + return false; + } + + private static bool matchesLastLetter(string boneName, string[] namingConvention) { + foreach(string n in namingConvention) { + if (LastLetterIs(boneName, n)) return true; + } + return false; + } + + private static bool LastLetterIs(string boneName, string letter) { + string lastLetter = boneName.Substring(boneName.Length - 1, 1); + return lastLetter == letter; + } + + private static string firstLetter(string boneName) { + if (boneName.Length > 0) return boneName.Substring(0, 1); + return ""; + } + + private static string lastLetter(string boneName) { + if (boneName.Length > 0) return boneName.Substring(boneName.Length - 1, 1); + return ""; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs.meta new file mode 100644 index 00000000..d636e94c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedNaming.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9b405eec4454c42e3b38bafdae66701a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs new file mode 100644 index 00000000..8b8dbcb9 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs @@ -0,0 +1,596 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion { + + /// + /// Contains references to bones common to all biped characters. + /// + [System.Serializable] + public class BipedReferences { + + #region Main Interface + + /// + /// The root transform is the parent of all the biped's bones and should be located at ground level. + /// + public Transform root; + /// + /// The pelvis (hip) bone. + /// + public Transform pelvis; + /// + /// The first bone of the left leg. + /// + public Transform leftThigh; + /// + /// The second bone of the left leg. + /// + public Transform leftCalf; + /// + /// The third bone of the left leg. + /// + public Transform leftFoot; + /// + /// The first bone of the right leg. + /// + public Transform rightThigh; + /// + /// The second bone of the right leg. + /// + public Transform rightCalf; + /// + /// The third bone of the right leg. + /// + public Transform rightFoot; + /// + /// The first bone of the left arm. + /// + public Transform leftUpperArm; + /// + /// The second bone of the left arm. + /// + public Transform leftForearm; + /// + /// The third bone of the left arm. + /// + public Transform leftHand; + /// + /// The first bone of the right arm. + /// + public Transform rightUpperArm; + /// + /// The second bone of the right arm. + /// + public Transform rightForearm; + /// + /// The third bone of the right arm. + /// + public Transform rightHand; + /// + /// The head. + /// + public Transform head; + /// + /// The spine hierarchy. Should not contain any bone deeper in the hierarchy than the arms (neck or head). + /// + public Transform[] spine = new Transform[0]; + /// + /// The eyes. + /// + public Transform[] eyes = new Transform[0]; + + /// + /// Check for null references. + /// + public virtual bool isFilled { + get { + if (root == null) return false; + if (pelvis == null) return false; + if (leftThigh == null || leftCalf == null || leftFoot == null) return false; + if (rightThigh == null || rightCalf == null || rightFoot == null) return false; + if (leftUpperArm == null || leftForearm == null || leftHand == null) return false; + if (rightUpperArm == null || rightForearm == null || rightHand == null) return false; + + foreach (Transform s in spine) if (s == null) return false; + foreach (Transform eye in eyes) if (eye == null) return false; + return true; + } + } + + /// + /// Gets a value indicating whether this is empty. + /// + public bool isEmpty { + get { + return IsEmpty(true); + } + } + + /// + /// Gets a value indicating whether this is empty. If includeRoot is false, returns true(is empty) even if root Transform has been assigned. + /// + public virtual bool IsEmpty(bool includeRoot) { + if (includeRoot && root != null) return false; + if (pelvis != null || head != null) return false; + if (leftThigh != null || leftCalf != null || leftFoot != null) return false; + if (rightThigh != null || rightCalf != null || rightFoot != null) return false; + if (leftUpperArm != null || leftForearm != null || leftHand != null) return false; + if (rightUpperArm != null || rightForearm != null || rightHand != null) return false; + + foreach (Transform s in spine) if (s != null) return false; + foreach (Transform eye in eyes) if (eye != null) return false; + return true; + } + + /// + /// Returns true if the References contain the specified Transform + /// + public virtual bool Contains(Transform t, bool ignoreRoot = false) { + if (!ignoreRoot && root == t) return true; + if (pelvis == t) return true; + if (leftThigh == t) return true; + if (leftCalf == t) return true; + if (leftFoot == t) return true; + if (rightThigh == t) return true; + if (rightCalf == t) return true; + if (rightFoot == t) return true; + if (leftUpperArm == t) return true; + if (leftForearm == t) return true; + if (leftHand == t) return true; + if (rightUpperArm == t) return true; + if (rightForearm == t) return true; + if (rightHand == t) return true; + if (head == t) return true; + + foreach (Transform s in spine) if (s == t) return true; + foreach (Transform e in eyes) if (e == t) return true; + + return false; + } + + /// + /// Params for automatic biped recognition. (Using a struct here because I might need to add more parameters in the future). + /// + public struct AutoDetectParams { + + /// + /// Should the immediate parent of the legs be included in the spine?. + /// + public bool legsParentInSpine; + public bool includeEyes; + + public AutoDetectParams(bool legsParentInSpine, bool includeEyes) { + this.legsParentInSpine = legsParentInSpine; + this.includeEyes = includeEyes; + } + + public static AutoDetectParams Default { + get { + return new AutoDetectParams(true, true); + } + } + } + + /// + /// Automatically detects biped bones. Returns true if a valid biped has been referenced. + /// + public static bool AutoDetectReferences(ref BipedReferences references, Transform root, AutoDetectParams autoDetectParams) { + if (references == null) references = new BipedReferences(); + references.root = root; + + // If that failed try the Animator + var animator = root.GetComponent(); + if (animator != null && animator.isHuman) { + AssignHumanoidReferences(ref references, animator, autoDetectParams); + return true; // Assume humanoids are always valid + } + + // Try with naming and hierarchy first + DetectReferencesByNaming(ref references, root, autoDetectParams); + + Warning.logged = false; + + if (!references.isFilled) { + Warning.Log("BipedReferences contains one or more missing Transforms.", root, true); + return false; + } + + string message = ""; + if (SetupError(references, ref message)) { + Warning.Log(message, references.root, true); + return false; + } + + if (SetupWarning(references, ref message)) { + Warning.Log(message, references.root, true); + } + + return true; + } + + /// + /// Detects the references based on naming and hierarchy. + /// + public static void DetectReferencesByNaming(ref BipedReferences references, Transform root, AutoDetectParams autoDetectParams) { + if (references == null) references = new BipedReferences(); + + Transform[] children = root.GetComponentsInChildren(); + + // Find limbs + DetectLimb(BipedNaming.BoneType.Arm, BipedNaming.BoneSide.Left, ref references.leftUpperArm, ref references.leftForearm, ref references.leftHand, children); + DetectLimb(BipedNaming.BoneType.Arm, BipedNaming.BoneSide.Right, ref references.rightUpperArm, ref references.rightForearm, ref references.rightHand, children); + DetectLimb(BipedNaming.BoneType.Leg, BipedNaming.BoneSide.Left, ref references.leftThigh, ref references.leftCalf, ref references.leftFoot, children); + DetectLimb(BipedNaming.BoneType.Leg, BipedNaming.BoneSide.Right, ref references.rightThigh, ref references.rightCalf, ref references.rightFoot, children); + + // Find head bone + references.head = BipedNaming.GetBone(children, BipedNaming.BoneType.Head); + + // Find Pelvis + references.pelvis = BipedNaming.GetNamingMatch(children, BipedNaming.pelvis); + + // If pelvis is not an ancestor of a leg, it is not a valid pelvis + if (references.pelvis == null || !Hierarchy.IsAncestor(references.leftThigh, references.pelvis)) { + if (references.leftThigh != null) references.pelvis = references.leftThigh.parent; + } + + // Find spine and head bones + if (references.leftUpperArm != null && references.rightUpperArm != null && references.pelvis != null && references.leftThigh != null) { + Transform neck = Hierarchy.GetFirstCommonAncestor(references.leftUpperArm, references.rightUpperArm); + + if (neck != null) { + Transform[] inverseSpine = new Transform[1] { neck }; + Hierarchy.AddAncestors(inverseSpine[0], references.pelvis, ref inverseSpine); + + references.spine = new Transform[0]; + for (int i = inverseSpine.Length - 1; i > -1; i--) { + if (AddBoneToSpine(inverseSpine[i], ref references, autoDetectParams)) { + Array.Resize(ref references.spine, references.spine.Length + 1); + references.spine[references.spine.Length - 1] = inverseSpine[i]; + } + } + + // Head + if (references.head == null) { + for (int i = 0; i < neck.childCount; i++) { + Transform child = neck.GetChild(i); + + if (!Hierarchy.ContainsChild(child, references.leftUpperArm) && !Hierarchy.ContainsChild(child, references.rightUpperArm)) { + references.head = child; + break; + } + } + } + } + } + + // Find eye bones + Transform[] eyes = BipedNaming.GetBonesOfType(BipedNaming.BoneType.Eye, children); + references.eyes = new Transform[0]; + + if (autoDetectParams.includeEyes) { + for (int i = 0; i < eyes.Length; i++) { + if (AddBoneToEyes(eyes[i], ref references, autoDetectParams)) { + Array.Resize(ref references.eyes, references.eyes.Length + 1); + references.eyes[references.eyes.Length - 1] = eyes[i]; + } + } + } + } + + /// + /// Fills in BipedReferences using Animator.GetBoneTransform(). + /// + public static void AssignHumanoidReferences(ref BipedReferences references, Animator animator, AutoDetectParams autoDetectParams) { + if (references == null) references = new BipedReferences(); + + if (animator == null || !animator.isHuman) return; + + references.spine = new Transform[0]; + references.eyes = new Transform[0]; + + references.head = animator.GetBoneTransform(HumanBodyBones.Head); + + references.leftThigh = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg); + references.leftCalf = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg); + references.leftFoot = animator.GetBoneTransform(HumanBodyBones.LeftFoot); + + references.rightThigh = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg); + references.rightCalf = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg); + references.rightFoot = animator.GetBoneTransform(HumanBodyBones.RightFoot); + + references.leftUpperArm = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm); + references.leftForearm = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm); + references.leftHand = animator.GetBoneTransform(HumanBodyBones.LeftHand); + + references.rightUpperArm = animator.GetBoneTransform(HumanBodyBones.RightUpperArm); + references.rightForearm = animator.GetBoneTransform(HumanBodyBones.RightLowerArm); + references.rightHand = animator.GetBoneTransform(HumanBodyBones.RightHand); + + references.pelvis = animator.GetBoneTransform(HumanBodyBones.Hips); + + AddBoneToHierarchy(ref references.spine, animator.GetBoneTransform(HumanBodyBones.Spine)); + AddBoneToHierarchy(ref references.spine, animator.GetBoneTransform(HumanBodyBones.Chest)); + + // Make sure the neck bone is not above the arms + if (references.leftUpperArm != null) { + if (!IsNeckBone(animator.GetBoneTransform(HumanBodyBones.Neck), references.leftUpperArm)) AddBoneToHierarchy(ref references.spine, animator.GetBoneTransform(HumanBodyBones.Neck)); + } + + if (autoDetectParams.includeEyes) { + AddBoneToHierarchy(ref references.eyes, animator.GetBoneTransform(HumanBodyBones.LeftEye)); + AddBoneToHierarchy(ref references.eyes, animator.GetBoneTransform(HumanBodyBones.RightEye)); + } + } + + /// + /// Checks the setup for definite problems. + /// + public static bool SetupError(BipedReferences references, ref string errorMessage) { + if (!references.isFilled) { + errorMessage = "BipedReferences contains one or more missing Transforms."; + return true; + } + + if (LimbError(references.leftThigh, references.leftCalf, references.leftFoot, ref errorMessage)) return true; + if (LimbError(references.rightThigh, references.rightCalf, references.rightFoot, ref errorMessage)) return true; + if (LimbError(references.leftUpperArm, references.leftForearm, references.leftHand, ref errorMessage)) return true; + if (LimbError(references.rightUpperArm, references.rightForearm, references.rightHand, ref errorMessage)) return true; + if (SpineError(references, ref errorMessage)) return true; + if (EyesError(references, ref errorMessage)) return true; + + return false; + } + + /// + /// Checks the setup for possible problems. + /// + public static bool SetupWarning(BipedReferences references, ref string warningMessage) { + if (LimbWarning(references.leftThigh, references.leftCalf, references.leftFoot, ref warningMessage)) return true; + if (LimbWarning(references.rightThigh, references.rightCalf, references.rightFoot, ref warningMessage)) return true; + if (LimbWarning(references.leftUpperArm, references.leftForearm, references.leftHand, ref warningMessage)) return true; + if (LimbWarning(references.rightUpperArm, references.rightForearm, references.rightHand, ref warningMessage)) return true; + if (SpineWarning(references, ref warningMessage)) return true; + if (EyesWarning(references, ref warningMessage)) return true; + if (RootHeightWarning(references, ref warningMessage)) return true; + if (FacingAxisWarning(references, ref warningMessage)) return true; + + return false; + } + + + #endregion Main Interface + + // Determines whether a Transform is above the arms + private static bool IsNeckBone(Transform bone, Transform leftUpperArm) { + if (leftUpperArm.parent != null && leftUpperArm.parent == bone) return false; + if (Hierarchy.IsAncestor(leftUpperArm, bone)) return false; + return true; + } + + // Determines whether a bone is valid for being added into the eyes array + private static bool AddBoneToEyes(Transform bone, ref BipedReferences references, AutoDetectParams autoDetectParams) { + if (references.head != null) { + if (!Hierarchy.IsAncestor(bone, references.head)) return false; + } + + if (bone.GetComponent() != null) return false; + + return true; + } + + // Determines whether a bone is valid for being added into the spine + private static bool AddBoneToSpine(Transform bone, ref BipedReferences references, AutoDetectParams autoDetectParams) { + if (bone == references.root) return false; + + bool isLegsParent = bone == references.leftThigh.parent; + if (isLegsParent && !autoDetectParams.legsParentInSpine) return false; + + if (references.pelvis != null) { + if (bone == references.pelvis) return false; + if (Hierarchy.IsAncestor(references.pelvis, bone)) return false; + } + + return true; + } + + // Tries to guess the limb bones based on naming + private static void DetectLimb(BipedNaming.BoneType boneType, BipedNaming.BoneSide boneSide, ref Transform firstBone, ref Transform secondBone, ref Transform lastBone, Transform[] transforms) { + Transform[] limb = BipedNaming.GetBonesOfTypeAndSide(boneType, boneSide, transforms); + + if (limb.Length < 3) { + //Warning.Log("Unable to detect biped bones by bone names. Please manually assign bone references.", firstBone, true); + return; + } + + // Standard biped characters + if (limb.Length == 3) { + firstBone = limb[0]; + secondBone = limb[1]; + lastBone = limb[2]; + } + + // For Bootcamp soldier type of characters with more than 3 limb bones + if (limb.Length > 3) { + firstBone = limb[0]; + secondBone = limb[2]; + lastBone = limb[limb.Length - 1]; + } + } + + // Adds transform to hierarchy if not null + private static void AddBoneToHierarchy(ref Transform[] bones, Transform transform) { + if (transform == null) return; + + Array.Resize(ref bones, bones.Length + 1); + bones[bones.Length - 1] = transform; + } + + // Check if the limb is properly set up + private static bool LimbError(Transform bone1, Transform bone2, Transform bone3, ref string errorMessage) { + if (bone1 == null) { + errorMessage = "Bone 1 of a BipedReferences limb is null."; + return true; + } + + if (bone2 == null) { + errorMessage = "Bone 2 of a BipedReferences limb is null."; + return true; + } + + if (bone3 == null) { + errorMessage = "Bone 3 of a BipedReferences limb is null."; + return true; + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(new Transform[3] { bone1, bone2, bone3 }); + if (duplicate != null) { + errorMessage = duplicate.name + " is represented multiple times in the same BipedReferences limb."; + return true; + } + + if (bone2.position == bone1.position) { + errorMessage = "Second bone's position equals first bone's position in the biped's limb."; + return true; + } + + if (bone3.position == bone2.position) { + errorMessage = "Third bone's position equals second bone's position in the biped's limb."; + return true; + } + + if (!Hierarchy.HierarchyIsValid(new Transform[3] { bone1, bone2, bone3 })) { + errorMessage = "BipedReferences limb hierarchy is invalid. Bone transforms in a limb do not belong to the same ancestry. Please make sure the bones are parented to each other. " + + "Bones: " + bone1.name + ", " + bone2.name + ", " + bone3.name; + + return true; + } + + return false; + } + + // Check if the limb is properly set up + private static bool LimbWarning(Transform bone1, Transform bone2, Transform bone3, ref string warningMessage) { + Vector3 cross = Vector3.Cross(bone2.position - bone1.position, bone3.position - bone1.position); + + if (cross == Vector3.zero) { + warningMessage = "BipedReferences limb is completely stretched out in the initial pose. IK solver can not calculate the default bend plane for the limb. " + + "Please make sure you character's limbs are at least slightly bent in the initial pose. " + + "First bone: " + bone1.name + ", second bone: " + bone2.name + "."; + + return true; + } + + return false; + } + + // Check if spine is properly set up + private static bool SpineError(BipedReferences references, ref string errorMessage) { + // No spine might be a valid setup in some cases + if (references.spine.Length == 0) return false; + + for (int i = 0; i < references.spine.Length; i++) { + if (references.spine[i] == null) { + errorMessage = "BipedReferences spine bone at index " + i + " is null."; + return true; + } + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(references.spine); + if (duplicate != null) { + errorMessage = duplicate.name + " is represented multiple times in BipedReferences spine."; + return true; + } + + if (!Hierarchy.HierarchyIsValid(references.spine)) { + errorMessage = "BipedReferences spine hierarchy is invalid. Bone transforms in the spine do not belong to the same ancestry. Please make sure the bones are parented to each other."; + return true; + } + + for (int i = 0; i < references.spine.Length; i++) { + bool matchesParentPosition = false; + if (i == 0 && references.spine[i].position == references.pelvis.position) matchesParentPosition = true; + if (i != 0 && references.spine.Length > 1 && references.spine[i].position == references.spine[i - 1].position) matchesParentPosition = true; + + if (matchesParentPosition) { + errorMessage = "Biped's spine bone nr " + i + " position is the same as its parent spine/pelvis bone's position. Please remove this bone from the spine."; + return true; + } + } + + return false; + } + + // Check if spine is properly set up + private static bool SpineWarning(BipedReferences references, ref string warningMessage) { + // Maybe need to add something here in the future + return false; + } + + // Check if eyes are properly set up + private static bool EyesError(BipedReferences references, ref string errorMessage) { + // No eyes might be a valid setup + if (references.eyes.Length == 0) return false; + + for (int i = 0; i < references.eyes.Length; i++) { + if (references.eyes[i] == null) { + errorMessage = "BipedReferences eye bone at index " + i + " is null."; + return true; + } + } + + Transform duplicate = (Transform)Hierarchy.ContainsDuplicate(references.eyes); + if (duplicate != null) { + errorMessage = duplicate.name + " is represented multiple times in BipedReferences eyes."; + return true; + } + + return false; + } + + // Check if eyes are properly set up + private static bool EyesWarning(BipedReferences references, ref string warningMessage) { + // Maybe need to add something here in the future + return false; + } + + // Check if BipedIK transform position is at the character's feet + private static bool RootHeightWarning(BipedReferences references, ref string warningMessage) { + if (references.head == null) return false; + + float headHeight = GetVerticalOffset(references.head.position, references.leftFoot.position, references.root.rotation); + float rootHeight = GetVerticalOffset(references.root.position, references.leftFoot.position, references.root.rotation); + + if (rootHeight / headHeight > 0.2f) { + warningMessage = "Biped's root Transform's position should be at ground level relative to the character (at the character's feet not at its pelvis)."; + return true; + } + + return false; + } + + // Check if the character is facing the correct axis + private static bool FacingAxisWarning(BipedReferences references, ref string warningMessage) { + Vector3 handsLeftToRight = references.rightHand.position - references.leftHand.position; + Vector3 feetLeftToRight = references.rightFoot.position - references.leftFoot.position; + + float dotHands = Vector3.Dot(handsLeftToRight.normalized, references.root.right); + float dotFeet = Vector3.Dot(feetLeftToRight.normalized, references.root.right); + + if (dotHands < 0 || dotFeet < 0) { + warningMessage = "Biped does not seem to be facing its forward axis. " + + "Please make sure that in the initial pose the character is facing towards the positive Z axis of the Biped root gameobject."; + return true; + } + + return false; + } + + // Gets vertical offset relative to a rotation + private static float GetVerticalOffset(Vector3 p1, Vector3 p2, Quaternion rotation) { + Vector3 v = Quaternion.Inverse(rotation) * (p1 - p2); + return v.y; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs.meta new file mode 100644 index 00000000..58b18fdd --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/BipedReferences.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 0bb327e2dbd674e81906dcacf4777dbf +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs new file mode 100644 index 00000000..460513d2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs @@ -0,0 +1,17 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Adding comments to GameObjects in the Inspector. + /// + public class Comments : MonoBehaviour { + + /// + /// The comment. + /// + [Multiline] + public string text; + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs.meta new file mode 100644 index 00000000..5aac3684 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Comments.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 92471cc1733c49042be56cd39b4b6e5e +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs new file mode 100644 index 00000000..6ed04660 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs @@ -0,0 +1,18 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + // Just for displaying a GUI text in the Game View. + public class DemoGUIMessage : MonoBehaviour { + + public string text; + public Color color = Color.white; + + void OnGUI() { + GUI.color = color; + GUILayout.Label(text); + GUI.color = Color.white; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs.meta new file mode 100644 index 00000000..cd3bda4b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/DemoGUIMessage.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: b527358a3a7e442d3b6f2f52806aac84 +timeCreated: 1444293804 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs new file mode 100644 index 00000000..7ed3945b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs @@ -0,0 +1,162 @@ +using UnityEngine; +using System.Collections; +using System; + +namespace RootMotion { + + /// + /// Contains tools for working on Transform hierarchies. + /// + public class Hierarchy { + + /// + /// Make sure the bones are in valid %Hierarchy + /// + public static bool HierarchyIsValid(Transform[] bones) { + for (int i = 1; i < bones.Length; i++) { + // If parent bone is not an ancestor of bone, the hierarchy is invalid + if (!IsAncestor(bones[i], bones[i - 1])) { + return false; + } + } + return true; + } + + /// + /// Checks if an array of objects contains any duplicates. + /// + public static UnityEngine.Object ContainsDuplicate(UnityEngine.Object[] objects) { + for (int i = 0; i < objects.Length; i++) { + for (int i2 = 0; i2 < objects.Length; i2++) { + if (i != i2 && objects[i] == objects[i2]) return objects[i]; + } + } + return null; + } + + /// + /// Determines whether the second Transform is an ancestor to the first Transform. + /// + public static bool IsAncestor(Transform transform, Transform ancestor) { + if (transform == null) return true; + if (ancestor == null) return true; + if (transform.parent == null) return false; + if (transform.parent == ancestor) return true; + return IsAncestor(transform.parent, ancestor); + } + + /// + /// Returns true if the transforms contains the child + /// + public static bool ContainsChild(Transform transform, Transform child) { + if (transform == child) return true; + + Transform[] children = transform.GetComponentsInChildren() as Transform[]; + foreach (Transform c in children) if (c == child) return true; + return false; + } + + /// + /// Adds all Transforms until the blocker to the array + /// + public static void AddAncestors(Transform transform, Transform blocker, ref Transform[] array) { + if (transform.parent != null && transform.parent != blocker) { + if (transform.parent.position != transform.position && transform.parent.position != blocker.position) { + Array.Resize(ref array, array.Length + 1); + array[array.Length - 1] = transform.parent; + } + AddAncestors(transform.parent, blocker, ref array); + } + } + + /// + /// Gets the last ancestor that has more than minChildCount number of child Transforms + /// + public static Transform GetAncestor(Transform transform, int minChildCount) { + if (transform == null) return null; + + if (transform.parent != null) { + if (transform.parent.childCount >= minChildCount) return transform.parent; + return GetAncestor(transform.parent, minChildCount); + } + return null; + } + + /// + /// Gets the first common ancestor up the hierarchy + /// + public static Transform GetFirstCommonAncestor(Transform t1, Transform t2) { + if (t1 == null) return null; + if (t2 == null) return null; + if (t1.parent == null) return null; + if (t2.parent == null) return null; + + if (IsAncestor(t2, t1.parent)) return t1.parent; + return GetFirstCommonAncestor(t1.parent, t2); + } + + /// + /// Gets the first common ancestor of the specified transforms. + /// + public static Transform GetFirstCommonAncestor(Transform[] transforms) { + if (transforms == null) { + Debug.LogWarning("Transforms is null."); + return null; + } + if (transforms.Length == 0) { + Debug.LogWarning("Transforms.Length is 0."); + return null; + } + + for (int i = 0; i < transforms.Length; i++) { + if (transforms[i] == null) return null; + + if (IsCommonAncestor(transforms[i], transforms)) return transforms[i]; + } + + return GetFirstCommonAncestorRecursive(transforms[0], transforms); + } + + /// + /// Gets the first common ancestor recursively. + /// + public static Transform GetFirstCommonAncestorRecursive(Transform transform, Transform[] transforms) { + if (transform == null) { + Debug.LogWarning("Transform is null."); + return null; + } + + if (transforms == null) { + Debug.LogWarning("Transforms is null."); + return null; + } + if (transforms.Length == 0) { + Debug.LogWarning("Transforms.Length is 0."); + return null; + } + + if (IsCommonAncestor(transform, transforms)) return transform; + if (transform.parent == null) return null; + return GetFirstCommonAncestorRecursive(transform.parent, transforms); + } + + /// + /// Determines whether the first parameter is the common ancestor of all the other specified transforms. + /// + public static bool IsCommonAncestor(Transform transform, Transform[] transforms) { + if (transform == null) { + Debug.LogWarning("Transform is null."); + return false; + } + + for (int i = 0; i < transforms.Length; i++) { + if (transforms[i] == null) { + Debug.Log("Transforms[" + i + "] is null."); + return false; + } + if (!IsAncestor(transforms[i], transform) && transforms[i] != transform) return false; + } + return true; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs.meta new file mode 100644 index 00000000..e7b1615a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Hierarchy.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 3a3d07bf34b8e46d69638784c913e10a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs new file mode 100644 index 00000000..97685d83 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs @@ -0,0 +1,28 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion +{ + + /// + /// Comment attribute for Editor. + /// + public class InspectorComment : PropertyAttribute + { + + public string name; + public string color = "white"; + + public InspectorComment(string name) + { + this.name = name; + this.color = "white"; + } + + public InspectorComment(string name, string color) + { + this.name = name; + this.color = color; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs.meta new file mode 100644 index 00000000..96d18fb8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/InspectorComment.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 8445754565080cd469dedb4d0423de77 +timeCreated: 1533045022 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs new file mode 100644 index 00000000..632fa410 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs @@ -0,0 +1,363 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Interpolation mode. + /// + [System.Serializable] + public enum InterpolationMode + { + None, + InOutCubic, + InOutQuintic, + InOutSine, + InQuintic, + InQuartic, + InCubic, + InQuadratic, + InElastic, + InElasticSmall, + InElasticBig, + InSine, + InBack, + OutQuintic, + OutQuartic, + OutCubic, + OutInCubic, + OutInQuartic, + OutElastic, + OutElasticSmall, + OutElasticBig, + OutSine, + OutBack, + OutBackCubic, + OutBackQuartic, + BackInCubic, + BackInQuartic, + }; + + /// + /// Class for various interpolation methods. + /// + public class Interp + { + + #region Public methods + + /// + /// Interpolate the specified t by InterpolationMode mode. + /// + /// + /// T. + /// + /// + /// InterpolationMode. + /// + public static float Float(float t, InterpolationMode mode) { + float interpT = 0; + + switch (mode) { + case InterpolationMode.None: + interpT = Interp.None(t, 0, 1); + break; + case InterpolationMode.InOutCubic: + interpT = Interp.InOutCubic(t, 0, 1); + break; + case InterpolationMode.InOutQuintic: + interpT = Interp.InOutQuintic(t, 0, 1); + break; + case InterpolationMode.InQuintic: + interpT = Interp.InQuintic(t, 0, 1); + break; + case InterpolationMode.InQuartic: + interpT = Interp.InQuartic(t, 0, 1); + break; + case InterpolationMode.InCubic: + interpT = Interp.InCubic(t, 0, 1); + break; + case InterpolationMode.InQuadratic: + interpT = Interp.InQuadratic(t, 0, 1); + break; + case InterpolationMode.OutQuintic: + interpT = Interp.OutQuintic(t, 0, 1); + break; + case InterpolationMode.OutQuartic: + interpT = Interp.OutQuartic(t, 0, 1); + break; + case InterpolationMode.OutCubic: + interpT = Interp.OutCubic(t, 0, 1); + break; + case InterpolationMode.OutInCubic: + interpT = Interp.OutInCubic(t, 0, 1); + break; + case InterpolationMode.OutInQuartic: + interpT = Interp.OutInCubic(t, 0, 1); + break; + case InterpolationMode.BackInCubic: + interpT = Interp.BackInCubic(t, 0, 1); + break; + case InterpolationMode.BackInQuartic: + interpT = Interp.BackInQuartic(t, 0, 1); + break; + case InterpolationMode.OutBackCubic: + interpT = Interp.OutBackCubic(t, 0, 1); + break; + case InterpolationMode.OutBackQuartic: + interpT = Interp.OutBackQuartic(t, 0, 1); + break; + case InterpolationMode.OutElasticSmall: + interpT = Interp.OutElasticSmall(t, 0, 1); + break; + case InterpolationMode.OutElasticBig: + interpT = Interp.OutElasticBig(t, 0, 1); + break; + case InterpolationMode.InElasticSmall: + interpT = Interp.InElasticSmall(t, 0, 1); + break; + case InterpolationMode.InElasticBig: + interpT = Interp.InElasticBig(t, 0, 1); + break; + case InterpolationMode.InSine: + interpT = Interp.InSine(t, 0, 1); + break; + case InterpolationMode.OutSine: + interpT = Interp.OutSine(t, 0, 1); + break; + case InterpolationMode.InOutSine: + interpT = Interp.InOutSine(t, 0, 1); + break; + case InterpolationMode.InElastic: + interpT = Interp.OutElastic(t, 0, 1); + break; + case InterpolationMode.OutElastic: + interpT = Interp.OutElastic(t, 0, 1); + break; + case InterpolationMode.InBack: + interpT = Interp.InBack(t, 0, 1); + break; + case InterpolationMode.OutBack: + interpT = Interp.OutBack(t, 0, 1); + break; + default: interpT = 0; + break; + } + + return interpT; + } + + /// + /// Interpolate between two verctors by InterpolationMode mode + /// + public static Vector3 V3(Vector3 v1, Vector3 v2, float t, InterpolationMode mode) { + float interpT = Interp.Float(t, mode); + return ((1 - interpT) * v1) + (interpT * v2); + } + + /// + /// Linear interpolation of value towards target. + /// + public static float LerpValue(float value, float target, float increaseSpeed, float decreaseSpeed) { + if (value == target) return target; + if (value < target) return Mathf.Clamp(value + Time.deltaTime * increaseSpeed, -Mathf.Infinity, target); + else return Mathf.Clamp(value - Time.deltaTime * decreaseSpeed, target, Mathf.Infinity); + } + + #endregion Public methods + + #region Interpolation modes + + private static float None (float t, float b, float c) { // time, b, distance, + return b + c * (t); + } + + private static float InOutCubic(float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (-2 * tc + 3 * ts); + } + + private static float InOutQuintic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (6 * tc * ts + -15 * ts * ts + 10 * tc); + } + + private static float InQuintic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (tc * ts); + } + + private static float InQuartic (float t, float b, float c) { + float ts = t * t; + return b + c * (ts * ts); + } + + private static float InCubic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (tc); + } + + private static float InQuadratic (float t, float b, float c) { + float ts = t * t; + return b + c * (ts); + } + + private static float OutQuintic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (tc * ts + -5 * ts * ts + 10 * tc + -10 * ts + 5 * t); + } + + private static float OutQuartic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (-1 * ts * ts + 4 * tc + -6 * ts + 4 * t); + } + + private static float OutCubic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (tc + -3 * ts + 3 * t); + } + + private static float OutInCubic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (4 * tc + -6 * ts + 3 * t); + } + + private static float OutInQuartic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (6 * tc + -9 * ts + 4 * t); + } + + private static float BackInCubic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c *(4 * tc + -3 * ts); + } + + private static float BackInQuartic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (2 * ts * ts + 2 * tc + -3 * ts); + } + + private static float OutBackCubic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (4 * tc + -9 * ts + 6 * t); + } + + private static float OutBackQuartic (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (-2 * ts * ts + 10 * tc + -15 * ts + 8 * t); + } + + private static float OutElasticSmall (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (33 * tc * ts + -106 * ts * ts + 126 * tc + -67 * ts + 15 * t); + } + + private static float OutElasticBig (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b+c*(56*tc*ts + -175*ts*ts + 200*tc + -100*ts + 20*t); + } + + private static float InElasticSmall (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (33 * tc * ts + -59 * ts * ts + 32 * tc + -5 * ts); + } + + private static float InElasticBig (float t, float b, float c) { + float ts = t * t; + float tc = ts * t; + return b + c * (56 * tc * ts + -105 * ts * ts + 60 * tc + -10 * ts); + } + + private static float InSine (float t, float b, float c) { + c -= b; + return -c * Mathf.Cos(t / 1 * (Mathf.PI / 2)) + c + b; + } + + private static float OutSine (float t, float b, float c) { + c -= b; + return c * Mathf.Sin(t / 1 * (Mathf.PI / 2)) + b; + } + + private static float InOutSine (float t, float b, float c) { + c -= b; + return -c / 2 * (Mathf.Cos(Mathf.PI * t / 1) - 1) + b; + } + + private static float InElastic (float t, float b, float c) { + c -= b; + + float d = 1f; + float p = d * .3f; + float s = 0; + float a = 0; + + if (t == 0) return b; + + if ((t /= d) == 1) return b + c; + + if (a == 0f || a < Mathf.Abs(c)){ + a = c; + s = p / 4; + }else{ + s = p / (2 * Mathf.PI) * Mathf.Asin(c / a); + } + + return -(a * Mathf.Pow(2, 10 * (t-=1)) * Mathf.Sin((t * d - s) * (2 * Mathf.PI) / p)) + b; + } + + private static float OutElastic (float t, float b, float c) { + c -= b; + + float d = 1f; + float p = d * .3f; + float s = 0; + float a = 0; + + if (t == 0) return b; + + if ((t /= d) == 1) return b + c; + + if (a == 0f || a < Mathf.Abs(c)){ + a = c; + s = p / 4; + }else{ + s = p / (2 * Mathf.PI) * Mathf.Asin(c / a); + } + + return (a * Mathf.Pow(2, -10 * t) * Mathf.Sin((t * d - s) * (2 * Mathf.PI) / p) + c + b); + } + + private static float InBack(float t, float b, float c){ + c -= b; + t /= 1; + float s = 1.70158f; + return c * (t) * t * ((s + 1) * t - s) + b; + } + + + private static float OutBack (float t, float b, float c) { + float s = 1.70158f; + c -= b; + t = (t / 1) - 1; + return c * ((t) * t * ((s + 1) * t + s) + 1) + b; + } + + #endregion Interpolation modes + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs.meta new file mode 100644 index 00000000..91164669 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Interp.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 8d23298dba9a44325997366a9dc5314f +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs new file mode 100644 index 00000000..872eb7df --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs @@ -0,0 +1,142 @@ +using UnityEngine; +using System.Collections.Generic; + +namespace RootMotion { + + /// + /// This class contains tools for working with LayerMasks. + /// Most of this was copied from Unity Wiki: http://wiki.unity3d.com/index.php?title=LayerMaskExtensions. + /// + public static class LayerMaskExtensions + { + /// + /// Does the LayerMask contain a specific layer index? + /// + public static bool Contains(LayerMask mask, int layer) { + return mask == (mask | (1 << layer)); + } + + /// + /// Creates a LayerMask from an array of layer names. + /// + public static LayerMask Create(params string[] layerNames) + { + return NamesToMask(layerNames); + } + + /// + /// Creates a LayerMask from an array of layer indexes. + /// + public static LayerMask Create(params int[] layerNumbers) + { + return LayerNumbersToMask(layerNumbers); + } + + /// + /// Creates a LayerMask from a number of layer names. + /// + public static LayerMask NamesToMask(params string[] layerNames) + { + LayerMask ret = (LayerMask)0; + foreach(var name in layerNames) + { + ret |= (1 << LayerMask.NameToLayer(name)); + } + return ret; + } + + /// + /// Creates a LayerMask from a number of layer indexes. + /// + public static LayerMask LayerNumbersToMask(params int[] layerNumbers) + { + LayerMask ret = (LayerMask)0; + foreach(var layer in layerNumbers) + { + ret |= (1 << layer); + } + return ret; + } + + /// + /// Inverts a LayerMask. + /// + public static LayerMask Inverse(this LayerMask original) + { + return ~original; + } + + /// + /// Adds a number of layer names to an existing LayerMask. + /// + public static LayerMask AddToMask(this LayerMask original, params string[] layerNames) + { + return original | NamesToMask(layerNames); + } + + /// + /// Removes a number of layer names from an existing LayerMask. + /// + public static LayerMask RemoveFromMask(this LayerMask original, params string[] layerNames) + { + LayerMask invertedOriginal = ~original; + return ~(invertedOriginal | NamesToMask(layerNames)); + } + + /// + /// Returns a string array of layer names from a LayerMask. + /// + public static string[] MaskToNames(this LayerMask original) + { + var output = new List(); + + for (int i = 0; i < 32; ++i) + { + int shifted = 1 << i; + if ((original & shifted) == shifted) + { + string layerName = LayerMask.LayerToName(i); + if (!string.IsNullOrEmpty(layerName)) + { + output.Add(layerName); + } + } + } + return output.ToArray(); + } + + /// + /// Returns an array of layer indexes from a LayerMask. + /// + public static int[] MaskToNumbers(this LayerMask original) + { + var output = new List(); + + for (int i = 0; i < 32; ++i) + { + int shifted = 1 << i; + if ((original & shifted) == shifted) + { + output.Add(i); + } + } + return output.ToArray(); + } + + /// + /// Parses a LayerMask to a string. + /// + public static string MaskToString(this LayerMask original) + { + return MaskToString(original, ", "); + } + + /// + /// Parses a LayerMask to a string using the specified delimiter. + /// + public static string MaskToString(this LayerMask original, string delimiter) + { + return string.Join(delimiter, MaskToNames(original)); + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs.meta new file mode 100644 index 00000000..37f3fd75 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LayerMaskExtensions.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 9bbb833ec06b64849830a149f1e7b7e6 +timeCreated: 1435745915 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs new file mode 100644 index 00000000..f4ac3fec --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs @@ -0,0 +1,40 @@ +using UnityEngine; + +namespace RootMotion +{ + + /// + /// Auto-instantiated singleton base class. + /// + public abstract class LazySingleton : MonoBehaviour where T : LazySingleton + { + + private static T sInstance = null; + + public static bool hasInstance + { + get + { + return sInstance != null; + } + } + + public static T instance + { + get + { + if (sInstance == null) + { + string name = typeof(T).ToString(); + sInstance = new GameObject(name).AddComponent(); + } + return sInstance; + } + } + + protected virtual void Awake() + { + sInstance = (T)this; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs.meta new file mode 100644 index 00000000..ffe3d88b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/LazySingleton.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 38a253ce1de8036419e9f6c792893d7e +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs new file mode 100644 index 00000000..2d93b04c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs @@ -0,0 +1,218 @@ +using System.Collections; +using System.Collections.Generic; +using UnityEngine; + +namespace RootMotion.Demos +{ + + // Custom navigator for Unity Navigation. + [System.Serializable] + public class Navigator + { + + public enum State + { + Idle, + Seeking, + OnPath, + } + + [Tooltip("Should this Navigator be actively seeking a path.")] + public bool activeTargetSeeking; + + [Tooltip("Increase this value if the character starts running in a circle, not able to reach the corner because of a too large turning radius.")] + public float cornerRadius = 0.5f; + + [Tooltip("Recalculate path if target position has moved by this distance from the position it was at when the path was originally calculated")] + public float recalculateOnPathDistance = 1f; + //public float recalculateBadTargetDistance = 1f; + + [Tooltip("Sample within this distance from sourcePosition.")] + public float maxSampleDistance = 5f; + + [Tooltip("Interval of updating the path")] + public float nextPathInterval = 3f; + + /// + /// Get the move direction vector (normalized). If nowhere to go or path finished, will return Vector3.zero. + /// + public Vector3 normalizedDeltaPosition { get; private set; } + + /// + /// Get the current state of this Navigator (Idle, Seeking, OnPath). + /// + public State state { get; private set; } + + private Transform transform; + private int cornerIndex; + private Vector3[] corners = new Vector3[0]; + private UnityEngine.AI.NavMeshPath path; + private Vector3 lastTargetPosition; + private bool initiated; + private float nextPathTime; + + public void Initiate(Transform transform) + { + this.transform = transform; + path = new UnityEngine.AI.NavMeshPath(); + initiated = true; + cornerIndex = 0; + corners = new Vector3[0]; + state = State.Idle; + lastTargetPosition = new Vector3(Mathf.Infinity, Mathf.Infinity, Mathf.Infinity); + } + + public void Update(Vector3 targetPosition) + { + if (!initiated) + { + Debug.LogError("Trying to update an uninitiated Navigator."); + return; + } + + switch (state) + { + // When seeking path + case State.Seeking: + normalizedDeltaPosition = Vector3.zero; + + if (path.status == UnityEngine.AI.NavMeshPathStatus.PathComplete) + { + corners = path.corners; + cornerIndex = 0; + + if (corners.Length == 0) + { + Debug.LogWarning("Zero Corner Path", transform); + + Stop(); + } + else + { + state = State.OnPath; + } + } + + if (path.status == UnityEngine.AI.NavMeshPathStatus.PathPartial) + { + Debug.LogWarning("Path Partial", transform); + } + + if (path.status == UnityEngine.AI.NavMeshPathStatus.PathInvalid) + { + Debug.LogWarning("Path Invalid", transform); + } + break; + + // When already on path + case State.OnPath: + if (activeTargetSeeking && Time.time > nextPathTime && HorDistance(targetPosition, lastTargetPosition) > recalculateOnPathDistance) + { + CalculatePath(targetPosition); + break; + } + + if (cornerIndex < corners.Length) + { + Vector3 d = corners[cornerIndex] - transform.position; + d.y = 0f; + float mag = d.magnitude; + + if (mag > 0f) normalizedDeltaPosition = (d / d.magnitude); + else normalizedDeltaPosition = Vector3.zero; + + if (mag < cornerRadius) + { + cornerIndex++; + + if (cornerIndex >= corners.Length) Stop(); + } + } + break; + + // Not on path, not seeking + case State.Idle: + if (activeTargetSeeking && Time.time > nextPathTime) CalculatePath(targetPosition); + break; + } + } + + private void CalculatePath(Vector3 targetPosition) + { + if (Find(targetPosition)) + { + lastTargetPosition = targetPosition; + state = State.Seeking; + } + else + { + Stop(); + } + + nextPathTime = Time.time + nextPathInterval; + } + + private bool Find(Vector3 targetPosition) + { + if (HorDistance(transform.position, targetPosition) < cornerRadius * 2f) return false; + //if (HorDistance(targetPosition, lastTargetPosition) < recalculateBadTargetDistance) return false; + if (UnityEngine.AI.NavMesh.CalculatePath(transform.position, targetPosition, UnityEngine.AI.NavMesh.AllAreas, path)) + { + return true; + } + else + { + UnityEngine.AI.NavMeshHit hit = new UnityEngine.AI.NavMeshHit(); + + if (UnityEngine.AI.NavMesh.SamplePosition(targetPosition, out hit, maxSampleDistance, UnityEngine.AI.NavMesh.AllAreas)) + { + if (UnityEngine.AI.NavMesh.CalculatePath(transform.position, hit.position, UnityEngine.AI.NavMesh.AllAreas, path)) + { + return true; + } + } + } + + return false; + } + + private void Stop() + { + state = State.Idle; + normalizedDeltaPosition = Vector3.zero; + } + + private float HorDistance(Vector3 p1, Vector3 p2) + { + return Vector2.Distance(new Vector2(p1.x, p1.z), new Vector2(p2.x, p2.z)); + } + + public void Visualize() + { + if (state == State.Idle) Gizmos.color = Color.gray; + if (state == State.Seeking) Gizmos.color = Color.red; + if (state == State.OnPath) Gizmos.color = Color.green; + + if (corners.Length > 0 && state == State.OnPath && cornerIndex == 0) + { + Gizmos.DrawLine(transform.position, corners[0]); + } + + for (int i = 0; i < corners.Length; i++) + { + Gizmos.DrawSphere(corners[i], 0.1f); + } + + if (corners.Length > 1) + { + for (int i = 0; i < corners.Length - 1; i++) + { + Gizmos.DrawLine(corners[i], corners[i + 1]); + } + } + + Gizmos.color = Color.white; + } + + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs.meta new file mode 100644 index 00000000..ba0e1e01 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Navigator.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: 733f93bd37122dd4889c53b5fa05a147 +timeCreated: 1536568016 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs new file mode 100644 index 00000000..d0fc3fc8 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs @@ -0,0 +1,89 @@ +using UnityEngine; +using System; +using System.Collections.Generic; + +namespace RootMotion +{ + public enum ShowIfMode + { + Disabled = 0, + Hidden = 1 + } + + [AttributeUsage(AttributeTargets.Property | AttributeTargets.Field, AllowMultiple = true)] + public class ShowIfAttribute : PropertyAttribute + { + public string propName { get; protected set; } + public object propValue { get; protected set; } + public object otherPropValue { get; protected set; } + public bool indent { get; private set; } + public ShowIfMode mode { get; protected set; } + + public ShowIfAttribute(string propertyName, object propertyValue = null, object otherPropertyValue = null, bool indent = false, ShowIfMode mode = ShowIfMode.Hidden) + { + this.propName = propertyName; + this.propValue = propertyValue; + this.otherPropValue = otherPropertyValue; + this.indent = indent; + this.mode = mode; + } + + } + + [AttributeUsage(AttributeTargets.Property | AttributeTargets.Field, AllowMultiple = true)] + public class ShowRangeIfAttribute : ShowIfAttribute + { + public float min { get; private set; } + public float max { get; private set; } + + public ShowRangeIfAttribute(float min, float max, string propertyName, object propertyValue = null, object otherPropertyValue = null, bool indent = false, ShowIfMode mode = ShowIfMode.Hidden) : base (propertyName, propertyValue, otherPropertyValue, indent, mode) + { + this.min = min; + this.max = max; + } + } + + /// + /// Large header attribute for Editor. + /// + public class ShowLargeHeaderIf : ShowIfAttribute + { + + public string name; + public string color = "white"; + + public ShowLargeHeaderIf(string name, string propertyName, object propertyValue = null, object otherPropertyValue = null, bool indent = false, ShowIfMode mode = ShowIfMode.Hidden) : base(propertyName, propertyValue, otherPropertyValue, indent, mode) + { + this.name = name; + this.color = "white"; + } + + public ShowLargeHeaderIf(string name, string color, string propertyName, object propertyValue = null, object otherPropertyValue = null, bool indent = false, ShowIfMode mode = ShowIfMode.Hidden) : base(propertyName, propertyValue, otherPropertyValue, indent, mode) + { + this.name = name; + this.color = color; + } + } + + /// + /// Large header attribute for Editor. + /// + public class LargeHeader : PropertyAttribute + { + + public string name; + public string color = "white"; + + public LargeHeader(string name) + { + this.name = name; + this.color = "white"; + } + + public LargeHeader(string name, string color) + { + this.name = name; + this.color = color; + } + } +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs.meta new file mode 100644 index 00000000..d0448877 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/PropertyAttributes.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 075dde4e7ae31b440915c8bd52e13197 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs new file mode 100644 index 00000000..e9a44b77 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs @@ -0,0 +1,303 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Helper methods for dealing with Quaternions. + /// + public static class QuaTools { + + /// + /// Returns yaw angle (-180 - 180) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetYaw(Quaternion space, Vector3 forward) + { + Vector3 dirLocal = Quaternion.Inverse(space) * forward; + if (dirLocal.x == 0f && dirLocal.z == 0f) return 0f; + if (float.IsInfinity(dirLocal.x) || float.IsInfinity(dirLocal.z)) return 0; + + return Mathf.Atan2(dirLocal.x, dirLocal.z) * Mathf.Rad2Deg; + } + + /// + /// Returns pitch angle (-90 - 90) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetPitch(Quaternion space, Vector3 forward) + { + forward = forward.normalized; + Vector3 dirLocal = Quaternion.Inverse(space) * forward; + if (Mathf.Abs(dirLocal.y) > 1f) dirLocal.Normalize(); + return -Mathf.Asin(dirLocal.y) * Mathf.Rad2Deg; + } + + /// + /// Returns bank angle (-180 - 180) of 'forward' and 'up' vectors relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetBank(Quaternion space, Vector3 forward, Vector3 up) + { + Vector3 spaceUp = space * Vector3.up; + + Quaternion invSpace = Quaternion.Inverse(space); + forward = invSpace * forward; + up = invSpace * up; + + Quaternion q = Quaternion.Inverse(Quaternion.LookRotation(spaceUp, forward)); + up = q * up; + float result = Mathf.Atan2(up.x, up.z) * Mathf.Rad2Deg; + return Mathf.Clamp(result, -180f, 180f); + } + + /// + /// Returns yaw angle (-180 - 180) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetYaw(Quaternion space, Quaternion rotation) + { + Vector3 dirLocal = Quaternion.Inverse(space) * (rotation * Vector3.forward); + if (dirLocal.x == 0f && dirLocal.z == 0f) return 0f; + if (float.IsInfinity(dirLocal.x) || float.IsInfinity(dirLocal.z)) return 0; + return Mathf.Atan2(dirLocal.x, dirLocal.z) * Mathf.Rad2Deg; + } + + /// + /// Returns pitch angle (-90 - 90) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetPitch(Quaternion space, Quaternion rotation) + { + Vector3 dirLocal = Quaternion.Inverse(space) * (rotation * Vector3.forward); + if (Mathf.Abs(dirLocal.y) > 1f) dirLocal.Normalize(); + return -Mathf.Asin(dirLocal.y) * Mathf.Rad2Deg; + } + + /// + /// Returns bank angle (-180 - 180) of 'forward' and 'up' vectors relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetBank(Quaternion space, Quaternion rotation) + { + Vector3 spaceUp = space * Vector3.up; + + Quaternion invSpace = Quaternion.Inverse(space); + Vector3 forward = invSpace * (rotation * Vector3.forward); + Vector3 up = invSpace * (rotation * Vector3.up); + + Quaternion q = Quaternion.Inverse(Quaternion.LookRotation(spaceUp, forward)); + up = q * up; + float result = Mathf.Atan2(up.x, up.z) * Mathf.Rad2Deg; + return Mathf.Clamp(result, -180f, 180f); + } + + /// + /// Optimized Quaternion.Lerp + /// + public static Quaternion Lerp(Quaternion fromRotation, Quaternion toRotation, float weight) { + if (weight <= 0f) return fromRotation; + if (weight >= 1f) return toRotation; + + return Quaternion.Lerp(fromRotation, toRotation, weight); + } + + /// + /// Optimized Quaternion.Slerp + /// + public static Quaternion Slerp(Quaternion fromRotation, Quaternion toRotation, float weight) { + if (weight <= 0f) return fromRotation; + if (weight >= 1f) return toRotation; + + return Quaternion.Slerp(fromRotation, toRotation, weight); + } + + /// + /// Returns the rotation from identity Quaternion to "q", interpolated linearily by "weight". + /// + public static Quaternion LinearBlend(Quaternion q, float weight) { + if (weight <= 0f) return Quaternion.identity; + if (weight >= 1f) return q; + return Quaternion.Lerp(Quaternion.identity, q, weight); + } + + /// + /// Returns the rotation from identity Quaternion to "q", interpolated spherically by "weight". + /// + public static Quaternion SphericalBlend(Quaternion q, float weight) { + if (weight <= 0f) return Quaternion.identity; + if (weight >= 1f) return q; + return Quaternion.Slerp(Quaternion.identity, q, weight); + } + + /// + /// Creates a FromToRotation, but makes sure its axis remains fixed near to the Quaternion singularity point. + /// + /// + /// The from to rotation around an axis. + /// + /// + /// From direction. + /// + /// + /// To direction. + /// + /// + /// Axis. Should be normalized before passing into this method. + /// + public static Quaternion FromToAroundAxis(Vector3 fromDirection, Vector3 toDirection, Vector3 axis) { + Quaternion fromTo = Quaternion.FromToRotation(fromDirection, toDirection); + + float angle = 0; + Vector3 freeAxis = Vector3.zero; + + fromTo.ToAngleAxis(out angle, out freeAxis); + + float dot = Vector3.Dot(freeAxis, axis); + if (dot < 0) angle = -angle; + + return Quaternion.AngleAxis(angle, axis); + } + + /// + /// Gets the rotation that can be used to convert a rotation from one axis space to another. + /// + public static Quaternion RotationToLocalSpace(Quaternion space, Quaternion rotation) { + return Quaternion.Inverse(Quaternion.Inverse(space) * rotation); + } + + /// + /// Gets the Quaternion from rotation "from" to rotation "to". + /// + public static Quaternion FromToRotation(Quaternion from, Quaternion to) { + if (to == from) return Quaternion.identity; + + return to * Quaternion.Inverse(from); + } + + + /// + /// Gets the closest direction axis to a vector. Input vector must be normalized! + /// + public static Vector3 GetAxis(Vector3 v) { + Vector3 closest = Vector3.right; + bool neg = false; + + float x = Vector3.Dot(v, Vector3.right); + float maxAbsDot = Mathf.Abs(x); + if (x < 0f) neg = true; + + float y = Vector3.Dot(v, Vector3.up); + float absDot = Mathf.Abs(y); + if (absDot > maxAbsDot) { + maxAbsDot = absDot; + closest = Vector3.up; + neg = y < 0f; + } + + float z = Vector3.Dot(v, Vector3.forward); + absDot = Mathf.Abs(z); + if (absDot > maxAbsDot) { + closest = Vector3.forward; + neg = z < 0f; + } + + if (neg) closest = -closest; + return closest; + } + + /// + /// Clamps the rotation similar to V3Tools.ClampDirection. + /// + public static Quaternion ClampRotation(Quaternion rotation, float clampWeight, int clampSmoothing) { + if (clampWeight >= 1f) return Quaternion.identity; + if (clampWeight <= 0f) return rotation; + + float angle = Quaternion.Angle(Quaternion.identity, rotation); + float dot = 1f - (angle / 180f); + float targetClampMlp = Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f); + float clampMlp = Mathf.Clamp(dot / clampWeight, 0f, 1f); + + // Sine smoothing iterations + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + return Quaternion.Slerp(Quaternion.identity, rotation, clampMlp * targetClampMlp); + } + + /// + /// Clamps an angular value. + /// + public static float ClampAngle(float angle, float clampWeight, int clampSmoothing) { + if (clampWeight >= 1f) return 0f; + if (clampWeight <= 0f) return angle; + + float dot = 1f - (Mathf.Abs(angle) / 180f); + float targetClampMlp = Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f); + float clampMlp = Mathf.Clamp(dot / clampWeight, 0f, 1f); + + // Sine smoothing iterations + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + return Mathf.Lerp(0f, angle, clampMlp * targetClampMlp); + } + + /// + /// Used for matching the rotations of objects that have different orientations. + /// + public static Quaternion MatchRotation(Quaternion targetRotation, Vector3 targetAxis1, Vector3 targetAxis2, Vector3 axis1, Vector3 axis2) { + Quaternion f = Quaternion.LookRotation(axis1, axis2); + Quaternion fTarget = Quaternion.LookRotation(targetAxis1, targetAxis2); + + Quaternion d = targetRotation * fTarget; + return d * Quaternion.Inverse(f); + } + + /// + /// Converts an Euler rotation from 0 to 360 representation to -180 to 180. + /// + public static Vector3 ToBiPolar(Vector3 euler) + { + return new Vector3(ToBiPolar(euler.x), ToBiPolar(euler.y), ToBiPolar(euler.z)); + } + + /// + /// Converts an angular value from 0 to 360 representation to -180 to 180. + /// + public static float ToBiPolar(float angle) + { + angle = angle % 360f; + if (angle >= 180f) return angle - 360f; + if (angle <= -180f) return angle + 360f; + return angle; + } + + /// + /// Mirrors a Quaternion on the YZ plane in provided rotation space. + /// + public static Quaternion MirrorYZ(Quaternion r, Quaternion space) + { + r = Quaternion.Inverse(space) * r; + Vector3 forward = r * Vector3.forward; + Vector3 up = r * Vector3.up; + + forward.x *= -1; + up.x *= -1; + + return space * Quaternion.LookRotation(forward, up); + } + + /// + /// Mirrors a Quaternion on the world space YZ plane. + /// + public static Quaternion MirrorYZ(Quaternion r) + { + Vector3 forward = r * Vector3.forward; + Vector3 up = r * Vector3.up; + + forward.x *= -1; + up.x *= -1; + + return Quaternion.LookRotation(forward, up); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs.meta new file mode 100644 index 00000000..07ccea6e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/QuaTools.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: a5860b124f5b94f3fb04cf4180b7ad67 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs new file mode 100644 index 00000000..ab0497bc --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs @@ -0,0 +1,35 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion +{ + + /// + /// The base abstract Singleton class. + /// + public abstract class Singleton : MonoBehaviour where T : Singleton + { + + private static T sInstance = null; + + public static T instance + { + get + { + return sInstance; + } + } + + public static void Clear() + { + sInstance = null; + } + + protected virtual void Awake() + { + if (sInstance != null) Debug.LogError(name + "error: already initialized", this); + + sInstance = (T)this; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs.meta new file mode 100644 index 00000000..05695a31 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Singleton.cs.meta @@ -0,0 +1,12 @@ +fileFormatVersion: 2 +guid: e1c8f0459a8434e80acd2f821a30412d +timeCreated: 1435745822 +licenseType: Store +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs new file mode 100644 index 00000000..13b782c2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs @@ -0,0 +1,127 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Manages solver initiation and updating + /// + public class SolverManager: MonoBehaviour { + + #region Main Interface + + /// + /// If true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance. Not recommended for CCD and FABRIK solvers. + /// + [Tooltip("If true, will fix all the Transforms used by the solver to their initial state in each Update. This prevents potential problems with unanimated bones and animator culling with a small cost of performance. Not recommended for CCD and FABRIK solvers.")] + public bool fixTransforms = true; + + /// + /// [DEPRECATED] Use "enabled = false" instead. + /// + public void Disable() { + Debug.Log("IK.Disable() is deprecated. Use enabled = false instead", transform); + + enabled = false; + } + + #endregion Main + + protected virtual void InitiateSolver() {} + protected virtual void UpdateSolver() {} + protected virtual void FixTransforms() {} + + private Animator animator; + private Animation legacy; + private bool updateFrame; + private bool componentInitiated; + + void OnDisable() { + if (!Application.isPlaying) return; + Initiate(); + } + + void Start() { + Initiate(); + } + + private bool animatePhysics { + get { + if (animator != null) return animator.updateMode == AnimatorUpdateMode.Fixed; + if (legacy != null) return legacy.animatePhysics; + return false; + } + } + + private void Initiate() { + if (componentInitiated) return; + + FindAnimatorRecursive(transform, true); + + InitiateSolver(); + componentInitiated = true; + } + + void Update() { + if (skipSolverUpdate) return; + if (animatePhysics) return; + + if (fixTransforms) FixTransforms(); + } + + // Finds the first Animator/Animation up the hierarchy + private void FindAnimatorRecursive(Transform t, bool findInChildren) { + if (isAnimated) return; + + animator = t.GetComponent(); + legacy = t.GetComponent(); + + if (isAnimated) return; + + if (animator == null && findInChildren) animator = t.GetComponentInChildren(); + if (legacy == null && findInChildren) legacy = t.GetComponentInChildren(); + + if (!isAnimated && t.parent != null) FindAnimatorRecursive(t.parent, false); + } + + private bool isAnimated { + get { + return animator != null || legacy != null; + } + } + + // Workaround hack for the solver to work with animatePhysics + void FixedUpdate() { + if (skipSolverUpdate) { + skipSolverUpdate = false; + } + + updateFrame = true; + + if (animatePhysics && fixTransforms) FixTransforms(); + } + + // Updating + void LateUpdate() { + if (skipSolverUpdate) return; + + // Check if either animatePhysics is false or FixedUpdate has been called + if (!animatePhysics) updateFrame = true; + if (!updateFrame) return; + updateFrame = false; + + UpdateSolver(); + } + + // This enables other scripts to update the Animator on in FixedUpdate and the solvers with it + private bool skipSolverUpdate; + + public void UpdateSolverExternal() { + if (!enabled) return; + + skipSolverUpdate = true; + + UpdateSolver(); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs.meta new file mode 100644 index 00000000..38625a08 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/SolverManager.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 24f5c8273305e4aed8dd09bf3a1a379a +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs new file mode 100644 index 00000000..9037940e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs @@ -0,0 +1,25 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Forwards collider OnTrigger.. events. + /// + public class TriggerEventBroadcaster : MonoBehaviour { + + public GameObject target; + + void OnTriggerEnter(Collider collider) { + if (target != null) target.SendMessage("OnTriggerEnter", collider, SendMessageOptions.DontRequireReceiver); + } + + void OnTriggerStay(Collider collider) { + if (target != null) target.SendMessage("OnTriggerStay", collider, SendMessageOptions.DontRequireReceiver); + } + + void OnTriggerExit(Collider collider) { + if (target != null) target.SendMessage("OnTriggerExit", collider, SendMessageOptions.DontRequireReceiver); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs.meta new file mode 100644 index 00000000..ded8972a --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/TriggerEventBroadcaster.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: ee28b2c81966748468e9371d12c933a2 +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs new file mode 100644 index 00000000..d864a83c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs @@ -0,0 +1,82 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion +{ + + /// + /// Helper methods for dealing with 2-dimensional vectors. + /// + public static class V2Tools + { + /// + /// Converts Vector3 to Vector2 on the XZ plane + /// + public static Vector2 XZ(Vector3 v) + { + return new Vector2(v.x, v.z); + } + + /// + /// Returns delta angle from 'dir1' to 'dir2' in degrees. + /// + public static float DeltaAngle(Vector2 dir1, Vector2 dir2) + { + float angle1 = Mathf.Atan2(dir1.x, dir1.y) * Mathf.Rad2Deg; + float angle2 = Mathf.Atan2(dir2.x, dir2.y) * Mathf.Rad2Deg; + return Mathf.DeltaAngle(angle1, angle2); + } + + /// + /// Returns delta angle from Vector3 'dir1' to Vector3 'dir2' on the XZ plane in degrees. + /// + public static float DeltaAngleXZ(Vector3 dir1, Vector3 dir2) + { + float angle1 = Mathf.Atan2(dir1.x, dir1.z) * Mathf.Rad2Deg; + float angle2 = Mathf.Atan2(dir2.x, dir2.z) * Mathf.Rad2Deg; + return Mathf.DeltaAngle(angle1, angle2); + } + + /// + /// Returns true if a line from 'p1' to 'p2' intersects a circle with position 'c' and radius 'r'. + /// + public static bool LineCircleIntersect(Vector2 p1, Vector2 p2, Vector2 c, float r) + { + Vector2 d = p2 - p1; + Vector2 f = c - p1; + + float a = Vector2.Dot(d, d); + float b = 2f * Vector2.Dot(f, d); + float z = Vector2.Dot(f, f) - r * r; + + float discr = b * b - 4f * a * z; + if (discr < 0f) return false; + + discr = Mathf.Sqrt(discr); + float a2 = 2f * a; + float t1 = (b - discr) / a2; + float t2 = (b + discr) / a2; + + if (t1 >= 0f && t1 <= 1f) return true; + if (t2 >= 0f && t2 <= 1f) return true; + return false; + } + + /// + /// Returns true if an infinite ray 'dir' from position 'p1' intersects a circle with position 'c' and radius 'r'. + /// + public static bool RayCircleIntersect(Vector2 p1, Vector2 dir, Vector2 c, float r) + { + Vector2 p2 = p1 + dir; + p1 -= c; + p2 -= c; + float dx = p2.x - p1.x; + float dy = p2.y - p1.y; + float dr = Mathf.Sqrt(Mathf.Pow(dx, 2f) + Mathf.Pow(dy, 2f)); + float D = p1.x * p2.y - p2.x * p1.y; + + float discr = Mathf.Pow(r, 2f) * Mathf.Pow(dr, 2f) - Mathf.Pow(D, 2f); + return discr >= 0f; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs.meta new file mode 100644 index 00000000..fc67fe91 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V2Tools.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 28fecd3bd2d91b84bb40145282fa8bf5 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs new file mode 100644 index 00000000..daf9cd7b --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs @@ -0,0 +1,305 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Helper methods for dealing with 3-dimensional vectors. + /// + public static class V3Tools { + + /// + /// Returns yaw angle (-180 - 180) of 'forward' vector. + /// + public static float GetYaw(Vector3 forward) + { + if (forward.x == 0f && forward.z == 0f) return 0f; + if (float.IsInfinity(forward.x) || float.IsInfinity(forward.z)) return 0; + return Mathf.Atan2(forward.x, forward.z) * Mathf.Rad2Deg; + } + + /// + /// Returns pitch angle (-90 - 90) of 'forward' vector. + /// + public static float GetPitch(Vector3 forward) + { + forward = forward.normalized; // Asin range -1 - 1 + return -Mathf.Asin(forward.y) * Mathf.Rad2Deg; + } + + /// + /// Returns bank angle (-180 - 180) of 'forward' and 'up' vectors. + /// + public static float GetBank(Vector3 forward, Vector3 up) + { + Quaternion q = Quaternion.Inverse(Quaternion.LookRotation(Vector3.up, forward)); + up = q * up; + float result = Mathf.Atan2(up.x, up.z) * Mathf.Rad2Deg; + return Mathf.Clamp(result, -180f, 180f); + } + + /// + /// Returns yaw angle (-180 - 180) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetYaw(Vector3 spaceForward, Vector3 spaceUp, Vector3 forward) + { + Quaternion space = Quaternion.Inverse(Quaternion.LookRotation(spaceForward, spaceUp)); + Vector3 dirLocal = space * forward; + if (dirLocal.x == 0f && dirLocal.z == 0f) return 0f; + if (float.IsInfinity(dirLocal.x) || float.IsInfinity(dirLocal.z)) return 0; + return Mathf.Atan2(dirLocal.x, dirLocal.z) * Mathf.Rad2Deg; + } + + /// + /// Returns pitch angle (-90 - 90) of 'forward' vector relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetPitch(Vector3 spaceForward, Vector3 spaceUp, Vector3 forward) + { + Quaternion space = Quaternion.Inverse(Quaternion.LookRotation(spaceForward, spaceUp)); + Vector3 dirLocal = space * forward; + forward.Normalize(); + return -Mathf.Asin(dirLocal.y) * Mathf.Rad2Deg; + } + + /// + /// Returns bank angle (-180 - 180) of 'forward' and 'up' vectors relative to rotation space defined by spaceForward and spaceUp axes. + /// + public static float GetBank(Vector3 spaceForward, Vector3 spaceUp, Vector3 forward, Vector3 up) + { + Quaternion space = Quaternion.Inverse(Quaternion.LookRotation(spaceForward, spaceUp)); + forward = space * forward; + up = space * up; + + Quaternion q = Quaternion.Inverse(Quaternion.LookRotation(spaceUp, forward)); + up = q * up; + float result = Mathf.Atan2(up.x, up.z) * Mathf.Rad2Deg; + return Mathf.Clamp(result, -180f, 180f); + } + + /// + /// Optimized Vector3.Lerp + /// + public static Vector3 Lerp(Vector3 fromVector, Vector3 toVector, float weight) { + if (weight <= 0f) return fromVector; + if (weight >= 1f) return toVector; + + return Vector3.Lerp(fromVector, toVector, weight); + } + + /// + /// Optimized Vector3.Slerp + /// + public static Vector3 Slerp(Vector3 fromVector, Vector3 toVector, float weight) { + if (weight <= 0f) return fromVector; + if (weight >= 1f) return toVector; + + return Vector3.Slerp(fromVector, toVector, weight); + } + + /// + /// Returns vector projection on axis multiplied by weight. + /// + public static Vector3 ExtractVertical(Vector3 v, Vector3 verticalAxis, float weight) + { + if (weight <= 0f) return Vector3.zero; + if (verticalAxis == Vector3.up) return Vector3.up * v.y * weight; + return Vector3.Project(v, verticalAxis) * weight; + } + + /// + /// Returns vector projected to a plane and multiplied by weight. + /// + public static Vector3 ExtractHorizontal(Vector3 v, Vector3 normal, float weight) + { + if (weight <= 0f) return Vector3.zero; + if (normal == Vector3.up) return new Vector3(v.x, 0f, v.z) * weight; + Vector3 tangent = v; + Vector3.OrthoNormalize(ref normal, ref tangent); + return Vector3.Project(v, tangent) * weight; + } + + /// + /// Flattens a vector on a plane defined by 'normal'. + /// + public static Vector3 Flatten(Vector3 v, Vector3 normal) + { + if (normal == Vector3.up) return new Vector3(v.x, 0f, v.z); + return v - Vector3.Project(v, normal); + } + + /// + /// Clamps the direction to clampWeight from normalDirection, clampSmoothing is the number of sine smoothing iterations applied on the result. + /// + public static Vector3 ClampDirection(Vector3 direction, Vector3 normalDirection, float clampWeight, int clampSmoothing) + { + if (clampWeight <= 0) return direction; + + if (clampWeight >= 1f) return normalDirection; + + // Getting the angle between direction and normalDirection + float angle = Vector3.Angle(normalDirection, direction); + float dot = 1f - (angle / 180f); + + if (dot > clampWeight) return direction; + + // Clamping the target + float targetClampMlp = clampWeight > 0 ? Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f) : 1f; + + // Calculating the clamp multiplier + float clampMlp = clampWeight > 0 ? Mathf.Clamp(dot / clampWeight, 0f, 1f) : 1f; + + // Sine smoothing iterations + for (int i = 0; i < clampSmoothing; i++) + { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + // Slerping the direction (don't use Lerp here, it breaks it) + return Vector3.Slerp(normalDirection, direction, clampMlp * targetClampMlp); + } + + /// + /// Clamps the direction to clampWeight from normalDirection, clampSmoothing is the number of sine smoothing iterations applied on the result. + /// + public static Vector3 ClampDirection(Vector3 direction, Vector3 normalDirection, float clampWeight, int clampSmoothing, out bool changed) { + changed = false; + + if (clampWeight <= 0) return direction; + + if (clampWeight >= 1f) { + changed = true; + return normalDirection; + } + + // Getting the angle between direction and normalDirection + float angle = Vector3.Angle(normalDirection, direction); + float dot = 1f - (angle / 180f); + + if (dot > clampWeight) return direction; + changed = true; + + // Clamping the target + float targetClampMlp = clampWeight > 0? Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f): 1f; + + // Calculating the clamp multiplier + float clampMlp = clampWeight > 0? Mathf.Clamp(dot / clampWeight, 0f, 1f): 1f; + + // Sine smoothing iterations + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + // Slerping the direction (don't use Lerp here, it breaks it) + return Vector3.Slerp(normalDirection, direction, clampMlp * targetClampMlp); + } + + /// + /// Clamps the direction to clampWeight from normalDirection, clampSmoothing is the number of sine smoothing iterations applied on the result. + /// + public static Vector3 ClampDirection(Vector3 direction, Vector3 normalDirection, float clampWeight, int clampSmoothing, out float clampValue) { + clampValue = 1f; + + if (clampWeight <= 0) return direction; + + if (clampWeight >= 1f) { + return normalDirection; + } + + // Getting the angle between direction and normalDirection + float angle = Vector3.Angle(normalDirection, direction); + float dot = 1f - (angle / 180f); + + if (dot > clampWeight) { + clampValue = 0f; + return direction; + } + + // Clamping the target + float targetClampMlp = clampWeight > 0? Mathf.Clamp(1f - ((clampWeight - dot) / (1f - dot)), 0f, 1f): 1f; + + // Calculating the clamp multiplier + float clampMlp = clampWeight > 0? Mathf.Clamp(dot / clampWeight, 0f, 1f): 1f; + + // Sine smoothing iterations + for (int i = 0; i < clampSmoothing; i++) { + float sinF = clampMlp * Mathf.PI * 0.5f; + clampMlp = Mathf.Sin(sinF); + } + + // Slerping the direction (don't use Lerp here, it breaks it) + float slerp = clampMlp * targetClampMlp; + clampValue = 1f - slerp; + return Vector3.Slerp(normalDirection, direction, slerp); + } + + /// + /// Get the intersection point of line and plane + /// + public static Vector3 LineToPlane(Vector3 origin, Vector3 direction, Vector3 planeNormal, Vector3 planePoint) { + float dot = Vector3.Dot(planePoint - origin, planeNormal); + float normalDot = Vector3.Dot(direction, planeNormal); + + if (normalDot == 0.0f) return Vector3.zero; + + float dist = dot / normalDot; + return origin + direction.normalized * dist; + } + + /// + /// Projects a point to a plane. + /// + public static Vector3 PointToPlane(Vector3 point, Vector3 planePosition, Vector3 planeNormal) { + if (planeNormal == Vector3.up) { + return new Vector3(point.x, planePosition.y, point.z); + } + + Vector3 tangent = point - planePosition; + Vector3 normal = planeNormal; + Vector3.OrthoNormalize(ref normal, ref tangent); + + return planePosition + Vector3.Project(point - planePosition, tangent); + } + + /// + /// Same as Transform.TransformPoint(), but not using scale. + /// + public static Vector3 TransformPointUnscaled(Transform t, Vector3 point) + { + return t.position + t.rotation * point; + } + + /// + /// Same as Transform.InverseTransformPoint(), but not using scale. + /// + public static Vector3 InverseTransformPointUnscaled(Transform t, Vector3 point) + { + return Quaternion.Inverse(t.rotation) * (point - t.position); + } + + /// + /// Same as Transform.InverseTransformPoint(); + /// + public static Vector3 InverseTransformPoint(Vector3 tPos, Quaternion tRot, Vector3 tScale, Vector3 point) + { + return Div(Quaternion.Inverse(tRot) * (point - tPos), tScale); + } + + /// + /// Same as Transform.TransformPoint() + /// + public static Vector3 TransformPoint(Vector3 tPos, Quaternion tRot, Vector3 tScale, Vector3 point) + { + return tPos + Vector3.Scale(tRot * point, tScale); + } + + /// + /// Divides the values of v1 by the values of v2. + /// + public static Vector3 Div(Vector3 v1, Vector3 v2) + { + return new Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z); + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs.meta new file mode 100644 index 00000000..c70af6e0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/V3Tools.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: 9a422d0570aa54fb39eb5ace0e12a4ed +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs new file mode 100644 index 00000000..c37a4c0e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs @@ -0,0 +1,29 @@ +using UnityEngine; +using System.Collections; + +namespace RootMotion { + + /// + /// Manages warning messages. + /// + public static class Warning { + + public static bool logged; + + public delegate void Logger(string message); + + public static void Log(string message, Logger logger, bool logInEditMode = false) { + if (!logInEditMode && !Application.isPlaying) return; + if (logged) return; + if (logger != null) logger(message); + logged = true; + } + + public static void Log(string message, Transform context, bool logInEditMode = false) { + if (!logInEditMode && !Application.isPlaying) return; + if (logged) return; + Debug.LogWarning(message, context); + logged = true; + } + } +} diff --git a/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs.meta b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs.meta new file mode 100644 index 00000000..e1604f94 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/RootMotion/Shared Scripts/Warning.cs.meta @@ -0,0 +1,10 @@ +fileFormatVersion: 2 +guid: c1a06ee7b207c4743876a042752f325b +MonoImporter: + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Config/Editor/OdinModuleConfig.asset b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Config/Editor/OdinModuleConfig.asset index 65024b91..34d5c6f5 100644 --- a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Config/Editor/OdinModuleConfig.asset +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Config/Editor/OdinModuleConfig.asset @@ -12,6 +12,8 @@ MonoBehaviour: m_Script: {fileID: -228747253, guid: a4865f1ab4504ed8a368670db22f409c, type: 3} m_Name: OdinModuleConfig m_EditorClassIdentifier: - configurations: [] + configurations: + - ID: Unity.Mathematics + ActivationSettings: 0 ModuleTogglingSettings: 1 ModuleUpdateSettings: 1 diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics.meta b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics.meta new file mode 100644 index 00000000..6ec6fc89 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics.meta @@ -0,0 +1,8 @@ +fileFormatVersion: 2 +guid: 3e319e4b9a48cef46ad53d51243dabbe +folderAsset: yes +DefaultImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs new file mode 100644 index 00000000..a8a70e7e --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs @@ -0,0 +1,883 @@ +//----------------------------------------------------------------------- +// +// Copyright (c) Sirenix ApS. All rights reserved. +// +//----------------------------------------------------------------------- + +namespace Sirenix.OdinInspector.Modules.UnityMathematics.Editor +{ +#if UNITY_EDITOR + using System; + using System.Collections.Generic; + using System.Reflection; + using Sirenix.OdinInspector.Editor; + using Sirenix.Utilities; + using Sirenix.Utilities.Editor; + using Unity.Mathematics; + using UnityEditor; + using UnityEngine; + + public sealed class MatrixFloat2x2Processor : MatrixProcessor { } + public sealed class MatrixFloat3x2Processor : MatrixProcessor { } + public sealed class MatrixFloat4x2Processor : MatrixProcessor { } + public sealed class MatrixFloat2x3Processor : MatrixProcessor { } + public sealed class MatrixFloat3x3Processor : MatrixProcessor { } + public sealed class MatrixFloat4x3Processor : MatrixProcessor { } + public sealed class MatrixFloat2x4Processor : MatrixProcessor { } + public sealed class MatrixFloat3x4Processor : MatrixProcessor { } + public sealed class MatrixFloat4x4Processor : MatrixProcessor { } + + public sealed class MatrixDouble2x2Processor : MatrixProcessor { } + public sealed class MatrixDouble3x2Processor : MatrixProcessor { } + public sealed class MatrixDouble4x2Processor : MatrixProcessor { } + public sealed class MatrixDouble2x3Processor : MatrixProcessor { } + public sealed class MatrixDouble3x3Processor : MatrixProcessor { } + public sealed class MatrixDouble4x3Processor : MatrixProcessor { } + public sealed class MatrixDouble2x4Processor : MatrixProcessor { } + public sealed class MatrixDouble3x4Processor : MatrixProcessor { } + public sealed class MatrixDouble4x4Processor : MatrixProcessor { } + + public sealed class MatrixBool2x2Processor : MatrixProcessor { } + public sealed class MatrixBool3x2Processor : MatrixProcessor { } + public sealed class MatrixBool4x2Processor : MatrixProcessor { } + public sealed class MatrixBool2x3Processor : MatrixProcessor { } + public sealed class MatrixBool3x3Processor : MatrixProcessor { } + public sealed class MatrixBool4x3Processor : MatrixProcessor { } + public sealed class MatrixBool2x4Processor : MatrixProcessor { } + public sealed class MatrixBool3x4Processor : MatrixProcessor { } + public sealed class MatrixBool4x4Processor : MatrixProcessor { } + + public sealed class MatrixInt2x2Processor : MatrixProcessor { } + public sealed class MatrixInt3x2Processor : MatrixProcessor { } + public sealed class MatrixInt4x2Processor : MatrixProcessor { } + public sealed class MatrixInt2x3Processor : MatrixProcessor { } + public sealed class MatrixInt3x3Processor : MatrixProcessor { } + public sealed class MatrixInt4x3Processor : MatrixProcessor { } + public sealed class MatrixInt2x4Processor : MatrixProcessor { } + public sealed class MatrixInt3x4Processor : MatrixProcessor { } + public sealed class MatrixInt4x4Processor : MatrixProcessor { } + + public sealed class MatrixUInt2x2Processor : MatrixProcessor { } + public sealed class MatrixUInt3x2Processor : MatrixProcessor { } + public sealed class MatrixUInt4x2Processor : MatrixProcessor { } + public sealed class MatrixUInt2x3Processor : MatrixProcessor { } + public sealed class MatrixUInt3x3Processor : MatrixProcessor { } + public sealed class MatrixUInt4x3Processor : MatrixProcessor { } + public sealed class MatrixUInt2x4Processor : MatrixProcessor { } + public sealed class MatrixUInt3x4Processor : MatrixProcessor { } + public sealed class MatrixUInt4x4Processor : MatrixProcessor { } + + public sealed class DisableUnityMatrixDrawerAttribute : Attribute { } + + public abstract class MatrixProcessor : OdinAttributeProcessor + { + public override void ProcessSelfAttributes(InspectorProperty property, List attributes) + { + attributes.GetOrAddAttribute(); + attributes.GetOrAddAttribute(); + } + + public override void ProcessChildMemberAttributes(InspectorProperty parentProperty, MemberInfo member, List attributes) + { + attributes.Add(new HideLabelAttribute()); + attributes.Add(new MatrixChildAttribute()); + } + } + + public class DisableUnityMatrixDrawerAttributeDrawer : OdinAttributeDrawer + { + protected override void Initialize() + { + this.SkipWhenDrawing = true; + var chain = this.Property.GetActiveDrawerChain().BakedDrawerArray; + + for (int i = 0; i < chain.Length; i++) + { + var type = chain[i].GetType(); + + if (type.IsGenericType && type.GetGenericTypeDefinition() == typeof(UnityPropertyDrawer<,>) && type.GetGenericArguments()[0].Name == "MatrixDrawer") + { + chain[i].SkipWhenDrawing = true; + break; + } + } + } + } + + public class MatrixChildAttribute : Attribute { } + + public class Bool2Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 100; + + if (label != null) + { + GUILayout.Space(3); // Ugh, better than nothing + } + + var options = GUILayoutOptions.Height(EditorGUIUtility.singleLineHeight); + + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + EditorGUILayout.EndVertical(); + GUIHelper.PopLabelWidth(); + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class Bool3Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 100; + + if (label != null) + { + GUILayout.Space(3); // Ugh, better than nothing + } + + var options = GUILayoutOptions.Height(EditorGUIUtility.singleLineHeight); + + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + EditorGUILayout.EndVertical(); + GUIHelper.PopLabelWidth(); + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class Bool4Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 100; + + if (label != null) + { + GUILayout.Space(3); // Ugh, better than nothing + } + + var options = GUILayoutOptions.Height(EditorGUIUtility.singleLineHeight); + + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + EditorGUILayout.EndVertical(); + EditorGUILayout.BeginVertical(options); + this.ValueEntry.Property.Children[3].Draw(showLabels ? GUIHelper.TempContent("W") : null); + EditorGUILayout.EndVertical(); + GUIHelper.PopLabelWidth(); + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class Float2Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector2(val.x, val.y)); + val = new float2(vec.x, vec.y); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + float2 value = (float2)property.ValueEntry.WeakSmartValue; + var vec = new Vector2(value.x, value.y); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0)"), vec == Vector2.zero, () => SetVector(property, Vector2.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1)"), vec == Vector2.one, () => SetVector(property, Vector2.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0)"), vec == Vector2.right, () => SetVector(property, Vector2.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0)"), vec == Vector2.left, () => SetVector(property, Vector2.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1)"), vec == Vector2.up, () => SetVector(property, Vector2.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1)"), vec == Vector2.down, () => SetVector(property, Vector2.down)); + } + + private void SetVector(InspectorProperty property, Vector2 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new float2(value.x, value.y); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((float2)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + public class Float3Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector3(val.x, val.y, val.z)); + val = new float3(vec.x, vec.y, vec.z); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + float3 value = (float3)property.ValueEntry.WeakSmartValue; + var vec = new Vector3(value.x, value.y, value.z); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0, 0)"), vec == Vector3.zero, () => SetVector(property, Vector3.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1, 1)"), vec == Vector3.one, () => SetVector(property, Vector3.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0, 0)"), vec == Vector3.right, () => SetVector(property, Vector3.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0, 0)"), vec == Vector3.left, () => SetVector(property, Vector3.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1, 0)"), vec == Vector3.up, () => SetVector(property, Vector3.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1, 0)"), vec == Vector3.down, () => SetVector(property, Vector3.down)); + genericMenu.AddItem(new GUIContent("Forward", "Set the vector property to (0, 0, 1)"), vec == Vector3.forward, () => SetVector(property, Vector3.forward)); + genericMenu.AddItem(new GUIContent("Back", "Set the vector property to (0, 0, -1)"), vec == Vector3.back, () => SetVector(property, Vector3.back)); + } + + private void SetVector(InspectorProperty property, Vector3 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new float3(value.x, value.y, value.z); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((float3)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + public class Float4Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector4(val.x, val.y, val.z, val.w)); + val = new float4(vec.x, vec.y, vec.z, vec.w); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + this.ValueEntry.Property.Children[3].Draw(showLabels ? GUIHelper.TempContent("W") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + float4 value = (float4)property.ValueEntry.WeakSmartValue; + var vec = new Vector4(value.x, value.y, value.z, value.w); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0, 0, 0)"), vec == Vector4.zero, () => SetVector(property, Vector3.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1, 1, 1)"), vec == Vector4.one, () => SetVector(property, Vector4.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0, 0, 0)"), (Vector3)vec == Vector3.right, () => SetVector(property, Vector3.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0, 0, 0)"), (Vector3)vec == Vector3.left, () => SetVector(property, Vector3.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1, 0, 0)"), (Vector3)vec == Vector3.up, () => SetVector(property, Vector3.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1, 0, 0)"), (Vector3)vec == Vector3.down, () => SetVector(property, Vector3.down)); + genericMenu.AddItem(new GUIContent("Forward", "Set the vector property to (0, 0, 1, 0)"), (Vector3)vec == Vector3.forward, () => SetVector(property, Vector3.forward)); + genericMenu.AddItem(new GUIContent("Back", "Set the vector property to (0, 0, -1, 0)"), (Vector3)vec == Vector3.back, () => SetVector(property, Vector3.back)); + } + + private void SetVector(InspectorProperty property, Vector4 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new float4(value.x, value.y, value.z, value.w); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((float4)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + + public class Double2Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector2((float)val.x, (float)val.y)); + val = new double2(vec.x, vec.y); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + double2 value = (double2)property.ValueEntry.WeakSmartValue; + var vec = new Vector2((float)value.x, (float)value.y); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0)"), vec == Vector2.zero, () => SetVector(property, Vector2.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1)"), vec == Vector2.one, () => SetVector(property, Vector2.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0)"), vec == Vector2.right, () => SetVector(property, Vector2.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0)"), vec == Vector2.left, () => SetVector(property, Vector2.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1)"), vec == Vector2.up, () => SetVector(property, Vector2.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1)"), vec == Vector2.down, () => SetVector(property, Vector2.down)); + } + + private void SetVector(InspectorProperty property, Vector2 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new double2(value.x, value.y); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((double2)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + public class Double3Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector3((float)val.x, (float)val.y, (float)val.z)); + val = new double3(vec.x, vec.y, vec.z); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + double3 value = (double3)property.ValueEntry.WeakSmartValue; + var vec = new Vector3((float)value.x, (float)value.y, (float)value.z); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0, 0)"), vec == Vector3.zero, () => SetVector(property, Vector3.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1, 1)"), vec == Vector3.one, () => SetVector(property, Vector3.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0, 0)"), vec == Vector3.right, () => SetVector(property, Vector3.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0, 0)"), vec == Vector3.left, () => SetVector(property, Vector3.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1, 0)"), vec == Vector3.up, () => SetVector(property, Vector3.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1, 0)"), vec == Vector3.down, () => SetVector(property, Vector3.down)); + genericMenu.AddItem(new GUIContent("Forward", "Set the vector property to (0, 0, 1)"), vec == Vector3.forward, () => SetVector(property, Vector3.forward)); + genericMenu.AddItem(new GUIContent("Back", "Set the vector property to (0, 0, -1)"), vec == Vector3.back, () => SetVector(property, Vector3.back)); + } + + private void SetVector(InspectorProperty property, Vector3 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new double3(value.x, value.y, value.z); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((double3)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + public class Double4Drawer : OdinValueDrawer, IDefinesGenericMenuItems + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + // Slide rect + { + var val = this.ValueEntry.SmartValue; + EditorGUI.BeginChangeCheck(); + var vec = SirenixEditorFields.VectorPrefixSlideRect(labelRect, new Vector4((float)val.x, (float)val.y, (float)val.z, (float)val.w)); + val = new double4(vec.x, vec.y, vec.z, vec.w); + if (EditorGUI.EndChangeCheck()) + { + this.ValueEntry.SmartValue = val; + } + } + + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + this.ValueEntry.Property.Children[3].Draw(showLabels ? GUIHelper.TempContent("W") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + + /// + /// Populates the generic menu for the property. + /// + public void PopulateGenericMenu(InspectorProperty property, GenericMenu genericMenu) + { + double4 value = (double4)property.ValueEntry.WeakSmartValue; + var vec = new Vector4((float)value.x, (float)value.y, (float)value.z, (float)value.w); + + if (genericMenu.GetItemCount() > 0) + { + genericMenu.AddSeparator(""); + } + genericMenu.AddItem(new GUIContent("Normalize"), Mathf.Approximately(vec.magnitude, 1f), () => NormalizeEntries(property)); + genericMenu.AddItem(new GUIContent("Zero", "Set the vector to (0, 0, 0, 0)"), vec == Vector4.zero, () => SetVector(property, Vector3.zero)); + genericMenu.AddItem(new GUIContent("One", "Set the vector to (1, 1, 1, 1)"), vec == Vector4.one, () => SetVector(property, Vector4.one)); + genericMenu.AddSeparator(""); + genericMenu.AddItem(new GUIContent("Right", "Set the vector to (1, 0, 0, 0)"), (Vector3)vec == Vector3.right, () => SetVector(property, Vector3.right)); + genericMenu.AddItem(new GUIContent("Left", "Set the vector to (-1, 0, 0, 0)"), (Vector3)vec == Vector3.left, () => SetVector(property, Vector3.left)); + genericMenu.AddItem(new GUIContent("Up", "Set the vector to (0, 1, 0, 0)"), (Vector3)vec == Vector3.up, () => SetVector(property, Vector3.up)); + genericMenu.AddItem(new GUIContent("Down", "Set the vector to (0, -1, 0, 0)"), (Vector3)vec == Vector3.down, () => SetVector(property, Vector3.down)); + genericMenu.AddItem(new GUIContent("Forward", "Set the vector property to (0, 0, 1, 0)"), (Vector3)vec == Vector3.forward, () => SetVector(property, Vector3.forward)); + genericMenu.AddItem(new GUIContent("Back", "Set the vector property to (0, 0, -1, 0)"), (Vector3)vec == Vector3.back, () => SetVector(property, Vector3.back)); + } + + private void SetVector(InspectorProperty property, Vector4 value) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = new double4(value.x, value.y, value.z, value.w); + } + }); + } + + private void NormalizeEntries(InspectorProperty property) + { + property.Tree.DelayActionUntilRepaint(() => + { + for (int i = 0; i < property.ValueEntry.ValueCount; i++) + { + property.ValueEntry.WeakValues[i] = math.normalizesafe((double4)property.ValueEntry.WeakValues[i]); + } + }); + } + } + + public class Int2Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class Int3Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class Int4Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + this.ValueEntry.Property.Children[3].Draw(showLabels ? GUIHelper.TempContent("W") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class UInt2Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class UInt3Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } + + public class UInt4Drawer : OdinValueDrawer + { + private bool isMatrixChild; + + protected override void Initialize() + { + this.isMatrixChild = this.Property.GetAttribute() != null; + } + + protected override void DrawPropertyLayout(GUIContent label) + { + Rect labelRect; + Rect contentRect = SirenixEditorGUI.BeginHorizontalPropertyLayout(label, out labelRect); + { + var showLabels = !this.isMatrixChild && SirenixEditorFields.ResponsiveVectorComponentFields && contentRect.width >= 185; + GUIHelper.PushLabelWidth(SirenixEditorFields.SingleLetterStructLabelWidth); + this.ValueEntry.Property.Children[0].Draw(showLabels ? GUIHelper.TempContent("X") : null); + this.ValueEntry.Property.Children[1].Draw(showLabels ? GUIHelper.TempContent("Y") : null); + this.ValueEntry.Property.Children[2].Draw(showLabels ? GUIHelper.TempContent("Z") : null); + this.ValueEntry.Property.Children[3].Draw(showLabels ? GUIHelper.TempContent("W") : null); + GUIHelper.PopLabelWidth(); + + } + SirenixEditorGUI.EndHorizontalPropertyLayout(); + } + } +#endif +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs.meta b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs.meta new file mode 100644 index 00000000..95a33196 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/MathematicsDrawers.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 74718b273a32d874a9dc3c58269c36b3 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef new file mode 100644 index 00000000..613c7ac2 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef @@ -0,0 +1,11 @@ +{ + "name": "Sirenix.OdinInspector.Modules.UnityMathematics", + "references": [ "Unity.Mathematics", "Sirenix.OdinInspector.Attributes", "Sirenix.OdinInspector.Editor", "Sirenix.Utilities", "Sirenix.Utilities.Editor" ], + "includePlatforms": [ "Editor" ], + "excludePlatforms": [], + "allowUnsafeCode": true, + "autoReferenced": true, + "overrideReferences": false, + "precompiledReferences": [ "Sirenix.Utilities.dll", "Sirenix.Utilities.Editor.dll", "Sirenix.OdinInspector.Attributes.dll", "Sirenix.OdinInspector.Editor.dll", "Sirenix.Serialization.dll" ], + "defineConstraints": [] +} \ No newline at end of file diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef.meta b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef.meta new file mode 100644 index 00000000..791fd528 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/Sirenix.OdinInspector.Modules.UnityMathematics.asmdef.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: ad968d605628d06499b62cdc30f11cf8 +AssemblyDefinitionImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt new file mode 100644 index 00000000..bc4189a0 --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt @@ -0,0 +1,8 @@ +ManifestVersion: 1 +ModuleID: Unity.Mathematics +ModuleVersion: 1.0.1.0 +ModuleFiles: + MathematicsDrawers.cs + MathematicsDrawers.cs.meta + Sirenix.OdinInspector.Modules.UnityMathematics.asmdef + Sirenix.OdinInspector.Modules.UnityMathematics.asmdef.meta diff --git a/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt.meta b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt.meta new file mode 100644 index 00000000..d0f9120c --- /dev/null +++ b/FactoryNumeric/Assets/Plugins/Sirenix/Odin Inspector/Modules/Unity.Mathematics/manifest.txt.meta @@ -0,0 +1,7 @@ +fileFormatVersion: 2 +guid: 7b8340560d984214890ff2668333dc1f +TextScriptImporter: + externalObjects: {} + userData: + assetBundleName: + assetBundleVariant: diff --git a/FactoryNumeric/Packages/manifest.json b/FactoryNumeric/Packages/manifest.json index 248ca988..4d8e6200 100644 --- a/FactoryNumeric/Packages/manifest.json +++ b/FactoryNumeric/Packages/manifest.json @@ -1,6 +1,7 @@ { "dependencies": { "com.code-philosophy.hybridclr": "https://gitee.com/focus-creative-games/hybridclr_unity.git", + "com.unity.cinemachine": "3.1.3", "com.unity.ide.rider": "3.0.34", "com.unity.ide.visualstudio": "2.0.22", "com.unity.ide.vscode": "1.2.5", diff --git a/FactoryNumeric/Packages/packages-lock.json b/FactoryNumeric/Packages/packages-lock.json index 148f6002..c7c586f2 100644 --- a/FactoryNumeric/Packages/packages-lock.json +++ b/FactoryNumeric/Packages/packages-lock.json @@ -30,6 +30,16 @@ "com.unity.modules.unitywebrequestassetbundle": "1.0.0" } }, + "com.unity.cinemachine": { + "version": "3.1.3", + "depth": 0, + "source": "registry", + "dependencies": { + "com.unity.splines": "2.0.0", + "com.unity.modules.imgui": "1.0.0" + }, + "url": "https://packages.unity.com" + }, "com.unity.ext.nunit": { "version": "2.0.5", "depth": 1, @@ -68,6 +78,13 @@ "dependencies": {}, "url": "https://packages.unity.com" }, + "com.unity.mathematics": { + "version": "1.3.2", + "depth": 2, + "source": "registry", + "dependencies": {}, + "url": "https://packages.unity.com" + }, "com.unity.nuget.newtonsoft-json": { "version": "3.2.1", "depth": 0, @@ -82,6 +99,23 @@ "dependencies": {}, "url": "https://packages.unity.com" }, + "com.unity.settings-manager": { + "version": "2.0.1", + "depth": 2, + "source": "registry", + "dependencies": {}, + "url": "https://packages.unity.com" + }, + "com.unity.splines": { + "version": "2.7.2", + "depth": 1, + "source": "registry", + "dependencies": { + "com.unity.mathematics": "1.2.1", + "com.unity.settings-manager": "1.0.3" + }, + "url": "https://packages.unity.com" + }, "com.unity.sysroot": { "version": "2.0.10", "depth": 1, diff --git a/FactoryNumeric/ProjectSettings/TagManager.asset b/FactoryNumeric/ProjectSettings/TagManager.asset index 1c92a784..aae648e4 100644 --- a/FactoryNumeric/ProjectSettings/TagManager.asset +++ b/FactoryNumeric/ProjectSettings/TagManager.asset @@ -2,7 +2,7 @@ %TAG !u! tag:unity3d.com,2011: --- !u!78 &1 TagManager: - serializedVersion: 2 + serializedVersion: 3 tags: [] layers: - Default @@ -36,8 +36,10 @@ TagManager: - - - - - + - HLOD m_SortingLayers: - name: Default uniqueID: 0 locked: 0 + m_RenderingLayers: + - Default diff --git a/FactoryNumeric/UserSettings/EditorUserSettings.asset b/FactoryNumeric/UserSettings/EditorUserSettings.asset index 44b942bc..f92f0c62 100644 --- a/FactoryNumeric/UserSettings/EditorUserSettings.asset +++ b/FactoryNumeric/UserSettings/EditorUserSettings.asset @@ -14,6 +14,9 @@ EditorUserSettings: RecentlyUsedSceneGuid-2: value: 515250075c0c595e5f5a5e71122159444e4e4a2f7a7d7f602f284d66b4b76661 flags: 0 + RecentlyUsedSceneGuid-3: + value: 505501005456500d5e575c7048270a4417164e7b2a2a73617b2f4a37b0b43669 + flags: 0 vcSharedLogLevel: value: 0d5e400f0650 flags: 0 @@ -31,4 +34,6 @@ EditorUserSettings: m_VCHierarchyOverlayIcons: 1 m_VCOtherOverlayIcons: 1 m_VCAllowAsyncUpdate: 1 + m_VCScanLocalPackagesOnConnect: 1 m_ArtifactGarbageCollection: 1 + m_CompressAssetsOnImport: 1