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1.Make the code compilable. 2.Improve arm IK
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,185 @@ | ||
| using UnityEngine; | ||
| using System.Collections; | ||
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| public class ThreePointIK : MonoBehaviour { | ||
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| public Transform IKBone1; | ||
| public Transform IKBone2; | ||
| public Transform IKBone3; | ||
| public Transform target; | ||
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| // whether UpdateIK() is called by Update() or called externally | ||
| public bool manualUpdateIK = false; | ||
| public BendNormalStrategy bendNormalStrategy = BendNormalStrategy.followTarget; | ||
| //public float debugAngle = 0f; | ||
| public Vector3 defaultBendNormal; | ||
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| public enum BendNormalStrategy | ||
| { | ||
| followTarget, | ||
| rightArm, | ||
| leftArm, | ||
| head, | ||
| //rightFoot, | ||
| //leftFoot, | ||
| } | ||
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| /// <summary> | ||
| /// Gets the rotation that can be used to convert a rotation from one axis space to another. | ||
| /// </summary> | ||
| public static Quaternion RotationToLocalSpace(Quaternion space, Quaternion rotation) | ||
| { | ||
| return Quaternion.Inverse(Quaternion.Inverse(space) * rotation); | ||
| } | ||
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| ///// <summary> | ||
| ///// Gets the Quaternion from rotation "from" to rotation "to". | ||
| ///// </summary> | ||
| //public static Quaternion FromToRotation(Quaternion from, Quaternion to) | ||
| //{ | ||
| // if (to == from) return Quaternion.identity; | ||
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| // return to * Quaternion.Inverse(from); | ||
| //} | ||
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| public class Bone | ||
| { | ||
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| public float length; | ||
| public Transform trans; | ||
| private Quaternion targetToLocalSpace; | ||
| private Vector3 defaultLocalBendNormal; | ||
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| public void Initiate(Vector3 childPosition, Vector3 bendNormal) { | ||
| // Get default target rotation that looks at child position with bendNormal as up | ||
| Quaternion defaultTargetRotation = Quaternion.LookRotation(childPosition - trans.position, bendNormal); | ||
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| // Covert default target rotation to local space | ||
| targetToLocalSpace = RotationToLocalSpace(trans.rotation, defaultTargetRotation); | ||
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| defaultLocalBendNormal = Quaternion.Inverse(trans.rotation) * bendNormal; | ||
| } | ||
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| public Quaternion GetRotation(Vector3 direction, Vector3 bendNormal) { | ||
| return Quaternion.LookRotation(direction, bendNormal) * targetToLocalSpace; | ||
| } | ||
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| public Vector3 GetBendNormalFromCurrentRotation() { | ||
| return trans.rotation * defaultLocalBendNormal; | ||
| } | ||
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| public Vector3 GetBendNormalFromCurrentRotation(Vector3 defaultNormal) { | ||
| return trans.rotation * defaultNormal; | ||
| } | ||
| } | ||
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| private Bone bone1; | ||
| private Bone bone2; | ||
| private Bone bone3; | ||
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| private bool initialized = false; | ||
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| // Use this for initialization | ||
| void Start () { | ||
| Init (); | ||
| } | ||
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| // Update is called once per frame | ||
| void Update () { | ||
| if (!initialized) { | ||
| return; | ||
| } | ||
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| if (!manualUpdateIK) { | ||
| UpdateIK (); | ||
| } | ||
| } | ||
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| Vector3 GetBendDirection(Vector3 IKPosition, Vector3 bendNormal) { | ||
| Vector3 direction = IKPosition - bone1.trans.position; | ||
| if (direction == Vector3.zero) return Vector3.zero; | ||
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| float directionSqrMag = direction.sqrMagnitude; | ||
| float directionMagnitude = (float)Mathf.Sqrt(directionSqrMag); | ||
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| float x = (directionSqrMag + bone1.length*bone1.length - bone2.length*bone2.length) / 2f / directionMagnitude; | ||
| float y = (float)Mathf.Sqrt(Mathf.Clamp(bone1.length*bone1.length - x * x, 0, Mathf.Infinity)); | ||
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| Vector3 yDirection = Vector3.Cross(direction, bendNormal); | ||
| return Quaternion.LookRotation(direction, yDirection) * new Vector3(0f, y, x); | ||
| } | ||
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| public void UpdateIK() | ||
| { | ||
| //clamp target if distance to target is longer than bones combined | ||
| Vector3 actualTargetPos; | ||
| float overallLength = Vector3.Distance (bone1.trans.position, target.position); | ||
| if (overallLength > bone1.length + bone2.length) { | ||
| actualTargetPos = bone1.trans.position + (target.position - bone1.trans.position).normalized * (bone1.length + bone2.length); | ||
| overallLength = bone1.length + bone2.length; | ||
| } else | ||
| actualTargetPos = target.position; | ||
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| //calculate bend normal | ||
| //you may need to change this based on the model you chose | ||
| Vector3 bendNormal = Vector3.zero; | ||
| switch (bendNormalStrategy) | ||
| { | ||
| case BendNormalStrategy.followTarget: | ||
| bendNormal = - Vector3.Cross (actualTargetPos - bone1.trans.position, target.forward); | ||
| break; | ||
| case BendNormalStrategy.rightArm: | ||
| bendNormal = Vector3.down; | ||
| break; | ||
| case BendNormalStrategy.leftArm: | ||
| bendNormal = Vector3.up; | ||
| break; | ||
| case BendNormalStrategy.head: | ||
| bendNormal = bone1.GetBendNormalFromCurrentRotation(); | ||
| break; | ||
| //case BendNormalStrategy.rightFoot: | ||
| // bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward); | ||
| // break; | ||
| //case BendNormalStrategy.leftFoot: | ||
| // bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward); | ||
| // break; | ||
| default: | ||
| Debug.LogError ("Undefined bendnormal strategy: " + bendNormalStrategy); | ||
| break; | ||
| } | ||
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| //calculate bone1, bone2 rotation | ||
| Vector3 bendDirection = GetBendDirection(actualTargetPos, bendNormal); | ||
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| // Rotating bone1 | ||
| bone1.trans.rotation = bone1.GetRotation(bendDirection, bendNormal); | ||
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| // Rotating bone 2 | ||
| bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, bone2.GetBendNormalFromCurrentRotation(defaultBendNormal)); | ||
| //bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, Quaternion.AngleAxis(debugAngle, target.forward)* target.up); | ||
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| bone3.trans.rotation = target.rotation; | ||
| } | ||
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| void Init() | ||
| { | ||
| if (IKBone1 == null || IKBone2 == null || IKBone3 == null || target == null) { | ||
| Debug.LogError ("bone or target empty, IK aborted"); | ||
| return; | ||
| } | ||
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| bone1 = new Bone{ trans = IKBone1 }; | ||
| bone2 = new Bone{ trans = IKBone2 }; | ||
| bone3 = new Bone{ trans = IKBone3 }; | ||
| bone1.length = Vector3.Distance (bone1.trans.position, bone2.trans.position); | ||
| bone2.length = Vector3.Distance (bone2.trans.position, bone3.trans.position); | ||
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| Vector3 bendNormal = defaultBendNormal; | ||
| //if (bendNormal == Vector3.zero) bendNormal = Vector3.forward; | ||
| bone1.Initiate(bone2.trans.position, bendNormal); | ||
| bone2.Initiate(bone3.trans.position, bendNormal); | ||
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| initialized = true; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -11,8 +11,12 @@ To get the full documentation: | |
| To download the executable: | ||
| - Download "vive_ik_test.rar" | ||
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| Note that the given source code is only for your reference and can't compile without error in Unity. To open this project in Unity: | ||
| - Either buy an IK plugin (for example, FinalIK) at assetstore or implement one yourself. | ||
| To run in Unity and modify the source code: | ||
| - Download this project and open the folder with Unity 5.4 (mine is 5.4.2f2). | ||
| - Double click the scene vive_ik_demo and hit "Play" button. | ||
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| Special thanks to: | ||
| - RootMotion for their FinalIK. This project took inspiration from it. If you want to use professional multi-joint IK (or any kind of IK) in your game, go check out FinalIK in Unity AssetStore. | ||
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| Copyright: HTC Corporation | ||
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@@ -33,8 +37,13 @@ Vive IK Demo | |
| ��ô��ÿ�ִ�г��� | ||
| - ����"vive_ik_test.rar" | ||
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| - ��assetstore����IK���������FinalIK���������Լ�ʵ��һ��IK����� | ||
| ��ô��Unity�����м��Ĵ��룺 | ||
| - ���ر����̣�Ȼ����Unity 5.4���ļ��У����õ���5.4.2f2�� | ||
| - ˫��vive_ik_demo������Ȼ����"Play"��ť | ||
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| �ر��л�� | ||
| - RootMotion�������̽�������ǵ�FinalIK�������������Ϸ����϶����IK��ȥAssetStore������FinalIK�ɡ� | ||
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| Copyright: HTC Corporation | ||
| Copyright: HTC Corporation | ||
| Contact: [email protected] | ||
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