288 lines
12 KiB
C#
288 lines
12 KiB
C#
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using UnityEngine;
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namespace Invector.IK
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{
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using Invector;
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/// <summary>
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/// Class that helps to Align arm to a position using a <seealso cref="aimReference"/>
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/// </summary>
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public class vArmAimAlign
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{
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#region Bones
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protected Transform root;
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protected Transform upperArm;
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protected Transform foreArm;
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protected Transform hand;
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public bool smoothIKAlignmentPoint = true;
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#endregion
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#region Bone Helpers
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public Transform upperArmHelper { get; protected set; }
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public Transform foreArmHelper { get; protected set; }
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public Transform handHelper { get; protected set; }
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public Transform aimReferenceHelper { get; protected set; }
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#endregion
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#region public Variables
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/// <summary>
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/// Smooth the alignment
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/// </summary>
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public float smooth { get; set; }
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/// <summary>
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/// Max angle (x) of the alignment based on Aim Reference
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/// </summary>
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public float maxVerticalAligmentAngle { get; set; }
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/// <summary>
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/// Max angle (y) of the alignment based on Aim Reference
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/// </summary>
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public float maxHorizontalAligmentAngle { get; set; }
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/// <summary>
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/// Reference transform to align arm. if this transform be null, the arm don't will be aligned;
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/// </summary>
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public Transform aimReference { get; set; }
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#endregion
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#region Protected Variables
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protected Quaternion _upperArmRotation;
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protected Quaternion _foreArmRotation;
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protected Quaternion _handRotation;
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protected Quaternion _aimReferenceRotation;
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protected Quaternion _upperArmRotationSmooth;
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protected Quaternion _handRotationSmooth;
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protected Quaternion smoothRotationDirection;
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protected Vector3 _upperArmPosition;
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protected Vector3 _foreArmPosition;
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protected Vector3 _handPosition;
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protected Vector3 _aimReferencePosition;
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#endregion
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public vArmAimAlign(Transform upperArm, Transform foreArm, Transform hand)
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{
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this.upperArm = upperArm;
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this.foreArm = foreArm;
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this.hand = hand;
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if (!upperArm || !foreArm || !hand) return;
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root = upperArm.parent;
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if (!upperArmHelper)
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{
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upperArmHelper = new GameObject("UpperArmHelper").transform;
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upperArmHelper.gameObject.tag = "Ignore Ragdoll";
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}
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if (!foreArmHelper)
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{
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foreArmHelper = new GameObject("ForeArmHelper").transform;
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foreArmHelper.gameObject.tag = "Ignore Ragdoll";
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}
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if (!handHelper)
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{
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handHelper = new GameObject("HandHelper").transform;
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handHelper.gameObject.tag = "Ignore Ragdoll";
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}
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if (!aimReferenceHelper)
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{
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aimReferenceHelper = new GameObject("AimReferenceHelper").transform;
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aimReferenceHelper.gameObject.tag = "Ignore Ragdoll";
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}
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upperArmHelper.parent = root;
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foreArmHelper.parent = upperArmHelper;
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handHelper.parent = foreArmHelper;
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aimReferenceHelper.parent = handHelper;
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}
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/// <summary>
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/// Check if the Arm is valid (all necessary transforms is assigned)
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/// </summary>
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public bool IsValid => this.upperArm && this.foreArm && this.hand && this.aimReference;
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/// <summary>
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/// Update Arm to use default animation alignment
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/// </summary>
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/// <param name="aimReference"></param>
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public void UpdateDefaultAlignment()
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{
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if (!IsValid) return;
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upperArmHelper.SetPositionAndRotation(upperArm.position, upperArm.rotation);
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upperArmHelper.localScale = upperArm.localScale;
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foreArmHelper.SetPositionAndRotation(foreArm.position, foreArm.rotation);
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foreArmHelper.localScale = foreArm.localScale;
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handHelper.SetPositionAndRotation(hand.position, hand.rotation);
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handHelper.localScale = hand.localScale;
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aimReferenceHelper.SetPositionAndRotation(aimReference.position, aimReference.rotation);
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aimReferenceHelper.localScale = aimReference.localScale;
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_upperArmRotation = upperArmHelper.localRotation;
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_foreArmRotation = foreArmHelper.localRotation;
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_handRotation = handHelper.localRotation;
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_aimReferenceRotation = aimReferenceHelper.localRotation;
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_upperArmPosition = upperArmHelper.localPosition;
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_foreArmPosition = foreArmHelper.localPosition;
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_handPosition = handHelper.localPosition;
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_aimReferencePosition = aimReferenceHelper.localPosition;
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}
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/// <summary>
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/// Restore last alignment applied from <seealso cref="AlignToArmToPosition"/>
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/// </summary>
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/// <param name="aimReference"></param>
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public void RestoreToLastAlignment()
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{
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if (!IsValid) return;
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upperArmHelper.localRotation = _upperArmRotation;
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foreArmHelper.localRotation = _foreArmRotation;
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handHelper.localRotation = _handRotation;
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aimReferenceHelper.localRotation = _aimReferenceRotation;
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upperArmHelper.localPosition = _upperArmPosition;
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foreArmHelper.localPosition = _foreArmPosition;
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handHelper.localPosition = _handPosition;
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aimReferenceHelper.localPosition = _aimReferencePosition;
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}
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/// <summary>
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/// Align Arm to a position
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/// </summary>
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/// <param name="targetPosition">position to align Arm</param>
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/// <param name="weight">alignment weight (0~1)</param>
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/// <param name="alignUpperArm"></param>
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/// <param name="alignHand"></param>
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public void AlignToArmToPosition(Vector3 targetPosition, float weight, bool alignUpperArm = true, bool alignHand = true)
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{
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if (!IsValid) return;
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if (smoothIKAlignmentPoint)
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{
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targetPosition = SmootAndClampPosition(targetPosition, maxHorizontalAligmentAngle, maxVerticalAligmentAngle);
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}
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if (alignUpperArm) AlignUpperArm(targetPosition, alignHand ? weight * 0.5f : weight);
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if (alignHand) AlignHand(targetPosition, weight);
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}
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/// <summary>
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/// Align upper arm to a position
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/// </summary>
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/// <param name="targetPosition">position to align upper arm</param>
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/// <param name="weight">alignment weight (0~1)</param>
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protected virtual void AlignUpperArm(Vector3 targetPosition, float weight)
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{
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AlignArmBone(upperArm, upperArmHelper, ref _upperArmRotationSmooth, targetPosition, weight);
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}
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/// <summary>
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/// Align hand to a position
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/// </summary>
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/// <param name="targetPosition">position to align hand</param>
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/// <param name="weight">alignment weight (0~1)</param>
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protected virtual void AlignHand(Vector3 targetPosition, float weight)
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{
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AlignArmBone(hand, handHelper, ref _handRotationSmooth, targetPosition, weight);
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}
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/// <summary>
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/// Align bone to a target position
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/// </summary>
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/// <param name="bone">target bone</param>
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/// <param name="boneHelper">target bone helper</param>
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/// <param name="smoothRotation">rotation of this bone (used to smooth)</param>
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/// <param name="targetPosition">position to align bone </param>
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/// <param name="weight">alignment weight (0~1)</param>
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protected virtual void AlignArmBone(Transform bone, Transform boneHelper, ref Quaternion smoothRotation, Vector3 targetPosition, float weight)
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{
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if (!smoothIKAlignmentPoint && System.Math.Round(weight, 1) == 0)
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{
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smoothRotation = Quaternion.identity;
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return;
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}
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Vector3 v = targetPosition - aimReferenceHelper.position;
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Quaternion targetRotation = Quaternion.identity;
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if (!smoothIKAlignmentPoint)
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{
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targetRotation = ClampRotation(Quaternion.LookRotation(v, aimReferenceHelper.up), maxHorizontalAligmentAngle * (weight), maxVerticalAligmentAngle * (weight));
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}
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else
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{
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targetRotation = Quaternion.LookRotation(v, aimReferenceHelper.up);
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}
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var currentOrientation = boneHelper.InverseTransformDirection(aimReferenceHelper.forward);
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var targetOrientation = boneHelper.InverseTransformDirection(targetRotation * Vector3.forward);
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var alignmentRotation = Quaternion.FromToRotation(currentOrientation, targetOrientation);
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if ((!float.IsNaN(alignmentRotation.x) && !float.IsNaN(alignmentRotation.y) && !float.IsNaN(alignmentRotation.z)))
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{
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Quaternion additiveRotation;
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if (!smoothIKAlignmentPoint)
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{
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smoothRotation = Quaternion.Slerp(smoothRotation, Quaternion.Lerp(Quaternion.identity, alignmentRotation, weight), smooth * Time.fixedDeltaTime);
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additiveRotation = smoothRotation;
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}
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else
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additiveRotation = Quaternion.Lerp(Quaternion.identity, alignmentRotation, weight);
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bone.localRotation *= additiveRotation;
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boneHelper.localRotation *= additiveRotation;
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}
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}
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/// <summary>
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/// Clamp the target IK alignment rotation base to <see cref="aimReferenceHelper"/> transform
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/// </summary>
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/// <param name="rotation">rotation to clamp</param>
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/// <param name="maxHorizontalAngle">max horizontal angle (y)</param>
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/// <param name="maxVerticalAngle">max vertical angle (x)</param>
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/// <returns></returns>
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protected virtual Quaternion ClampRotation(Quaternion rotation, float maxHorizontalAngle, float maxVerticalAngle)
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{
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var direction = rotation * Vector3.forward;
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var localDirection = aimReferenceHelper.InverseTransformDirection(direction);
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var localRotation = Quaternion.LookRotation(localDirection);
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var rotationEuler = localRotation.eulerAngles.NormalizeAngle();
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rotationEuler.y = Mathf.Clamp(rotationEuler.y, -maxHorizontalAngle, maxHorizontalAngle);
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rotationEuler.x = Mathf.Clamp(rotationEuler.x, -maxVerticalAngle, maxVerticalAngle);
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rotationEuler.z = 0;
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direction = aimReferenceHelper.TransformDirection(Quaternion.Euler(rotationEuler.NormalizeAngle()) * Vector3.forward);
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return Quaternion.LookRotation(direction, aimReferenceHelper.up);
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}
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/// <summary>
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/// Apply smooth and Clamp to the target Ik alignment Position base to <see cref="aimReferenceHelper"/> transform
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/// </summary>
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/// <param name="position">position to clamp smoothly</param>
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/// <param name="maxHorizontalAngle"></param>
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/// <param name="maxVerticalAngle"></param>
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/// <returns></returns>
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protected virtual Vector3 SmootAndClampPosition(Vector3 position, float maxHorizontalAngle, float maxVerticalAngle)
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{
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var direction = position - aimReferenceHelper.position;
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smoothRotationDirection = Quaternion.Slerp(ClampRotation(smoothRotationDirection, maxHorizontalAngle, maxVerticalAngle), Quaternion.LookRotation(position - aimReferenceHelper.position, aimReferenceHelper.up), smooth * Time.fixedDeltaTime);
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position = aimReferenceHelper.position + smoothRotationDirection * Vector3.forward * direction.magnitude;
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return position;
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}
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public void DrawBones(Color color)
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{
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if (!IsValid) return;
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Debug.DrawLine(upperArm.position, foreArm.position, color);
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Debug.DrawLine(foreArm.position, hand.position, color);
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}
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public void DrawHelpers(Color color)
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{
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if (!IsValid) return;
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Debug.DrawLine(upperArmHelper.position, foreArmHelper.position, color);
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Debug.DrawLine(foreArmHelper.position, handHelper.position, color);
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}
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}
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}
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