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 +1,114 @@
+using UnityEngine;
+using System.Collections;
+using RootMotion.FinalIK;
+
+namespace RootMotion.Demos {
+
+	/// <summary>
+	/// 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.
+	/// </summary>
+	public class KissingRig : MonoBehaviour {
+
+		/// <summary>
+		/// A partner in the emote
+		/// </summary>
+		[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);
+			}
+		}
+	}
+}