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 +1,188 @@
+using UnityEngine;
+using System.Collections;
+using RootMotion.FinalIK;
+
+namespace RootMotion.Demos {
+
+	/// <summary>
+	/// Demo script for using the Interaction System for touching scene geometry.
+	/// </summary>
+	public class TouchWalls : MonoBehaviour {
+
+		/// <summary>
+		/// Touching functionality for an effector
+		/// </summary>
+		[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);
+			}
+		}
+
+	}
+}