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 +1,59 @@
+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<FullBodyBipedIK>();
+
+			// 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;
+		}
+	}
+}