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using System.Collections;
1		using System.Collections;
2		using System.Collections.Generic;
3		using UnityEngine;
4
5		public class CharacterIK : MonoBehaviour {
6
7		Animator anim;
8
9		Transform leftFoot;
10		Transform rightFoot;
11
12		Transform rightShoulder;
13		Transform leftShoulder;
14
15		Vector3 leftFoot_pos;
16		Vector3 rightFoot_pos;
17
18		Quaternion leftFoot_rot;
19		Quaternion rightFoot_rot;
20
21		Vector3 leftHand_pos;
22		Vector3 rightHand_pos;
23
24		Quaternion leftHand_rot;
25		Quaternion rightHand_rot;
26
27		float leftFoot_Weight;
28		float rightFoot_Weight;
29
30		float leftHand_Weight;
31		float rightHand_Weight;
32
33		public Transform lookAtThis;
34
35		private void Start()
36		{
37		anim = GetComponent<Animator>();
38		leftFoot = anim.GetBoneTransform(HumanBodyBones.LeftFoot);
39		rightFoot = anim.GetBoneTransform(HumanBodyBones.RightFoot);
40		leftShoulder = anim.GetBoneTransform(HumanBodyBones.LeftShoulder);
41		rightShoulder = anim.GetBoneTransform(HumanBodyBones.RightShoulder);
42		}
43		private void OnAnimatorIK(int layerIndex)
44		{
45		// foot IK
46		leftFoot_Weight = anim.GetFloat("LeftFoot");
47		rightFoot_Weight = anim.GetFloat("RightFoot");
48		// find raycast positions
49		FindFloorPositions(leftFoot, ref leftFoot_pos, ref leftFoot_rot, Vector3.up);
50		FindFloorPositions(rightFoot, ref rightFoot_pos, ref rightFoot_rot, Vector3.up);
51
52		// replace the weights with leftFoot_Weight, and rightFoot_Weight when you've set them in your animation's Curves
53		anim.SetIKPositionWeight(AvatarIKGoal.LeftFoot, 1);
54		anim.SetIKRotationWeight(AvatarIKGoal.LeftFoot, 1);
55
56		anim.SetIKPositionWeight(AvatarIKGoal.RightFoot, 1);
57		anim.SetIKRotationWeight(AvatarIKGoal.RightFoot, 1);
58
59		// set the position of the feet
60		anim.SetIKPosition(AvatarIKGoal.LeftFoot, leftFoot_pos);
61		anim.SetIKPosition(AvatarIKGoal.RightFoot, rightFoot_pos);
62
63		// set the rotation of the feet
64		anim.SetIKRotation(AvatarIKGoal.LeftFoot, leftFoot_rot);
65		anim.SetIKRotation(AvatarIKGoal.RightFoot, rightFoot_rot);
66
67		// hand IK
68
69		// find raycast positions
70		FindFloorPositions(leftShoulder, ref leftHand_pos, ref leftHand_rot, -transform.forward);
71		FindFloorPositions(rightShoulder, ref rightHand_pos, ref rightHand_rot, -transform.forward);
72
73		// distance between hands and raycast hit
74		float distanceRightArmObject = Vector3.Distance(anim.GetBoneTransform(HumanBodyBones.RightShoulder).position, rightHand_pos);
75		float distanceLeftArmObject = Vector3.Distance(anim.GetBoneTransform(HumanBodyBones.LeftShoulder).position, leftHand_pos);
76		// blend weight based on the distance
77		leftHand_Weight = Mathf.Clamp01(1 - distanceLeftArmObject);
78		rightHand_Weight = Mathf.Clamp01(1 - distanceRightArmObject);
79
80
81		anim.SetIKPositionWeight(AvatarIKGoal.LeftHand, leftHand_Weight);
82		anim.SetIKRotationWeight(AvatarIKGoal.LeftHand, leftHand_Weight);
83
84		anim.SetIKPositionWeight(AvatarIKGoal.RightHand, rightHand_Weight);
85		anim.SetIKRotationWeight(AvatarIKGoal.RightHand, rightHand_Weight);
86
87		// set the position of the hand
88		anim.SetIKPosition(AvatarIKGoal.LeftHand, leftHand_pos);
89		anim.SetIKPosition(AvatarIKGoal.RightHand, rightHand_pos);
90
91		// set the rotation of the hand
92		anim.SetIKRotation(AvatarIKGoal.LeftHand, leftHand_rot);
93		anim.SetIKRotation(AvatarIKGoal.RightHand, rightHand_rot);
94		// head IK
95		if (lookAtThis != null)
96		{
97		// distance between face and object to look at
98		float distanceFaceObject = Vector3.Distance(anim.GetBoneTransform(HumanBodyBones.Head).position, lookAtThis.position);
99
100		anim.SetLookAtPosition(lookAtThis.position);
101		// blend based on the distance
102		anim.SetLookAtWeight(Mathf.Clamp01(2 - distanceFaceObject), Mathf.Clamp01(1 - distanceFaceObject));
103		}
104		}
105
106		void FindFloorPositions(Transform t, ref Vector3 targetPosition, ref Quaternion targetRotation, Vector3 direction)
107		{
108		RaycastHit hit;
109		Vector3 rayOrigin = t.position;
110		// move the ray origin back a bit
111		rayOrigin += direction * 0.3f;
112
113		// raycast in the given direction
114		Debug.DrawRay(rayOrigin, -direction, Color.green);
115		if (Physics.Raycast(rayOrigin, -direction, out hit, 3))
116		{
117		// the hit point is the position of the hand/foot
118		targetPosition = hit.point;
119		// then rotate based on the hit normal
120		Quaternion rot = Quaternion.LookRotation(transform.forward);
121		targetRotation = Quaternion.FromToRotation(Vector3.up, hit.normal) * rot;
122		}
123		}
124		}