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using UnityEngine;
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namespace Invector.IK
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{
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[System.Serializable]
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public class vIKSolver
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{
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public Transform rootTransform;
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public Transform rootBone;
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public Transform middleBone;
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public Transform endBone;
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[Header("Optional")]
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public Transform endBoneRef;
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public Transform middleBoneRef;
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public Transform endBoneOffset;
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public Transform middleBoneOffset;
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string middleTag, endTag;
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float _weight;
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Vector3? hintPosition;
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/// <summary>
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/// Manual creation of the bone targets
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/// </summary>
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/// <param name="rootBone"></param>
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/// <param name="middleBone"></param>
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/// <param name="endBone"></param>
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public vIKSolver(Transform rootTransform, Transform rootBone, Transform middleBone, Transform endBone)
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{
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this.rootTransform = rootTransform;
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this.rootBone = rootBone;
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this.middleBone = middleBone;
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this.endBone = endBone;
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}
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/// <summary>
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/// Auto creation of the bone targets
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/// </summary>
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/// <param name="animator"></param>
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/// <param name="ikGoal"></param>
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public vIKSolver(Animator animator, AvatarIKGoal ikGoal)
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{
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if (animator == null) { return; }
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this.rootTransform = animator.transform;
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if (animator.isHuman)
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{
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switch (ikGoal)
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{
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case AvatarIKGoal.LeftHand:
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rootBone = animator.GetBoneTransform(HumanBodyBones.LeftUpperArm);
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middleBone = animator.GetBoneTransform(HumanBodyBones.LeftLowerArm);
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endBone = animator.GetBoneTransform(HumanBodyBones.LeftHand);
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endTag = "LeftHand";
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middleTag = "LeftHint";
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break;
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case AvatarIKGoal.RightHand:
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rootBone = animator.GetBoneTransform(HumanBodyBones.RightUpperArm);
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middleBone = animator.GetBoneTransform(HumanBodyBones.RightLowerArm);
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endBone = animator.GetBoneTransform(HumanBodyBones.RightHand);
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endTag = "RightHand";
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middleTag = "RightHint";
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break;
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case AvatarIKGoal.LeftFoot:
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rootBone = animator.GetBoneTransform(HumanBodyBones.LeftUpperLeg);
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middleBone = animator.GetBoneTransform(HumanBodyBones.LeftLowerLeg);
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endBone = animator.GetBoneTransform(HumanBodyBones.LeftFoot);
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endTag = "LeftFoot";
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middleTag = "LeftHint";
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break;
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case AvatarIKGoal.RightFoot:
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rootBone = animator.GetBoneTransform(HumanBodyBones.RightUpperLeg);
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middleBone = animator.GetBoneTransform(HumanBodyBones.RightLowerLeg);
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endBone = animator.GetBoneTransform(HumanBodyBones.RightFoot);
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endTag = "RightFoot";
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middleTag = "RightHint";
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break;
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}
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}
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CreateBones();
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}
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public bool isValidBones
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{
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get
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{
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return rootBone &&
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middleBone &&
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endBone && endBoneRef &&
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middleBoneRef &&
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endBoneOffset &&
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middleBoneOffset;
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}
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}
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void CreateBones()
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{
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if (rootTransform && rootBone && middleBone && endBone)
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{
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if (!endBoneRef)
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{
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endBoneRef = new GameObject(endTag + "Ref").transform;
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endBoneRef.hideFlags = HideFlags.HideInHierarchy;
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endBoneRef.SetParent(rootTransform);
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}
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if (!middleBoneRef)
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{
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middleBoneRef = new GameObject(middleTag + "Ref").transform;
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middleBoneRef.hideFlags = HideFlags.HideInHierarchy;
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middleBoneRef.SetParent(rootTransform);
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}
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if (!endBoneOffset)
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{
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endBoneOffset = new GameObject(endTag + "Offset").transform;
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endBoneOffset.SetParent(endBoneRef);
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endBoneOffset.localPosition = Vector3.zero;
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endBoneOffset.localEulerAngles = Vector3.zero;
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}
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if (!middleBoneOffset)
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{
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middleBoneOffset = new GameObject(middleTag + "Offset").transform;
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middleBoneOffset.SetParent(middleBoneRef);
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middleBoneOffset.localPosition = Vector3.zero;
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middleBoneOffset.localEulerAngles = Vector3.zero;
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}
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}
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}
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/// <summary>
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/// Get IK Weight
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/// </summary>
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public virtual float ikWeight { get { return _weight; } }
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/// <summary>
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/// Set IK Weight
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/// </summary>
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/// <param name="weight"></param>
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public virtual void SetIKWeight(float weight)
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{
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_weight = weight;
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}
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public void UpdateIK()
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{
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if (endBoneRef)
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{
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endBoneRef.position = endBone.position;
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endBoneRef.rotation = endBone.rotation;
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}
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if (middleBoneRef)
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{
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middleBoneRef.position = middleBone.position;
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middleBoneRef.rotation = middleBone.rotation;
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}
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}
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public virtual void AnimationToIK()
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{
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if (!isValidBones)
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{
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CreateBones();
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return;
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}
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UpdateIK();
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SetIKHintPosition(middleBoneOffset.position);
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SetIKPosition(endBoneOffset.position);
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SetIKRotation(endBoneOffset.rotation);
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}
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/// <summary>
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/// Set IK Position
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/// </summary>
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/// <param name="ikPosition"></param>
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public virtual void SetIKPosition(Vector3 ikPosition)
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{
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if (ikWeight <= 0.0f) return;
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// Calculate middleBone Direction
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Vector3 middleBoneDirection = Vector3.zero;
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if (hintPosition != null)
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{
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// if middleBoneGoal is null, the direction will be calculated with forearm's point
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middleBoneDirection = (Vector3)hintPosition - rootBone.position;
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}
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else
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{
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middleBoneDirection = Vector3.Cross(endBone.position - rootBone.position, Vector3.Cross(endBone.position - rootBone.position, endBone.position - middleBone.position));
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}
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// Get lengths of Arm
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float rootBoneLength = (middleBone.position - rootBone.position).magnitude;
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float middleBoneLength = (endBone.position - middleBone.position).magnitude;
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// Calculate the desired middleBone position
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Vector3 middleBonePos = GetHintPosition(rootBone.position, ikPosition, rootBoneLength, middleBoneLength, middleBoneDirection);
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// Rotate the bone transformations to align correctly
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Quaternion upperarmRotation = Quaternion.FromToRotation(middleBone.position - rootBone.position, middleBonePos - rootBone.position) * rootBone.rotation;
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if (!(System.Single.IsNaN(upperarmRotation.x) || System.Single.IsNaN(upperarmRotation.y) || System.Single.IsNaN(upperarmRotation.z)))
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{
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//Rotate with transition
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rootBone.rotation = Quaternion.Slerp(rootBone.rotation, upperarmRotation, ikWeight);
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Quaternion middleBoneRotation = Quaternion.FromToRotation(endBone.position - middleBone.position, ikPosition - middleBonePos) * middleBone.rotation;
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middleBone.rotation = Quaternion.Slerp(middleBone.rotation, middleBoneRotation, ikWeight);
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}
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hintPosition = null;
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}
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/// <summary>
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/// Set IK Rotation
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/// </summary>
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/// <param name="rotation"></param>
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public virtual void SetIKRotation(Quaternion rotation)
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{
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if (!(rootBone && middleBone && endBone) || ikWeight <= 0.0f) return;
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var _rotation = rotation;
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endBone.rotation = Quaternion.Slerp(endBone.rotation, _rotation, ikWeight);
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}
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/// <summary>
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/// Set IK Hint Position
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/// ps: Call before SetIKPosition
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/// </summary>
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/// <param name="hintPosition"></param>
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public virtual void SetIKHintPosition(Vector3 hintPosition)
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{
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this.hintPosition = hintPosition;
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}
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/// <summary>
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/// Get IK Hint Position
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/// </summary>
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/// <param name="rootPos"></param>
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/// <param name="endPos"></param>
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/// <param name="rootBoneLength"></param>
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/// <param name="middleBoneLength"></param>
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/// <param name="middleBoneDirection"></param>
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/// <returns></returns>
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protected virtual Vector3 GetHintPosition(Vector3 rootPos, Vector3 endPos, float rootBoneLength, float middleBoneLength, Vector3 middleBoneDirection)
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{
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Vector3 rootToEndDir = endPos - rootPos;
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float rootToEndMag = rootToEndDir.magnitude;
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float maxDist = (rootBoneLength + middleBoneLength) * 0.999f;
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if (rootToEndMag > maxDist)
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{
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endPos = rootPos + (rootToEndDir.normalized * maxDist);
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rootToEndDir = endPos - rootPos;
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rootToEndMag = maxDist;
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}
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float minDist = Mathf.Abs(rootBoneLength - middleBoneLength) * 1.001f;
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if (rootToEndMag < minDist)
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{
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endPos = rootPos + (rootToEndDir.normalized * minDist);
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rootToEndDir = endPos - rootPos;
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rootToEndMag = minDist;
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}
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float aa = ((rootToEndMag * rootToEndMag + rootBoneLength * rootBoneLength - middleBoneLength * middleBoneLength) * 0.5f) / rootToEndMag;
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float bb = Mathf.Sqrt(rootBoneLength * rootBoneLength - aa * aa);
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Vector3 crossElbow = Vector3.Cross(rootToEndDir, Vector3.Cross(middleBoneDirection, rootToEndDir));
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return rootPos + (aa * rootToEndDir.normalized) + (bb * crossElbow.normalized);
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}
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}
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}
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