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 +1,47 @@
+using UnityEngine;
+using RootMotion.FinalIK;
+
+namespace RootMotion.Demos
+{
+    /// <summary>
+    /// Makes VRIK work with elbow targets at a cost of reduced hand accuracy.
+    /// </summary>
+    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;
+        }
+    }
+}