Added FinalIK

2026-08-12 16:46:38 +03:00
parent 487e0d72ff
commit 1dc80339d4
1124 changed files with 768831 additions and 139 deletions
@@ -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);
+			}
+		}
+	}
+}
+