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IKSolverFullBodyBiped Class Reference

FBIK solver specialized to biped characters. More...

Inheritance diagram for IKSolverFullBodyBiped:
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Collaboration diagram for IKSolverFullBodyBiped:
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Public Member Functions

void SetChainWeights (FullBodyBipedChain c, float pull, float reach=0f)
 Sets chain weights for the specified chain. More...
 
void SetEffectorWeights (FullBodyBipedEffector effector, float positionWeight, float rotationWeight)
 Sets effector weights for the specified effector. More...
 
FBIKChain GetChain (FullBodyBipedChain c)
 Gets the chain of a limb. More...
 
FBIKChain GetChain (FullBodyBipedEffector effector)
 Gets the chain of the specified effector. More...
 
IKEffector GetEffector (FullBodyBipedEffector effector)
 Gets the effector of type. More...
 
IKEffector GetEndEffector (FullBodyBipedChain c)
 Gets the effector of type. More...
 
IKMappingLimb GetLimbMapping (FullBodyBipedChain chain)
 Gets the limb mapping for the limb. More...
 
IKMappingLimb GetLimbMapping (FullBodyBipedEffector effector)
 Gets the limb mapping for the effector type. More...
 
IKMappingSpine GetSpineMapping ()
 Gets the spine mapping. More...
 
IKMappingBone GetHeadMapping ()
 Gets the head mapping. More...
 
IKConstraintBend GetBendConstraint (FullBodyBipedChain limb)
 Gets the bend constraint of a limb. More...
 
override bool IsValid (bool log)
 Determines whether this instance is valid or not. If log == true, will log a warning message in case of an invalid solver. More...
 
void SetToReferences (BipedReferences references, Transform rootNode=null)
 Sets up the solver to BipedReferences and reinitiates (if in runtime). More...
 
void SetLimbOrientations (BipedLimbOrientations o)
 Sets the bend directions of the limbs to the local axes specified by BipedLimbOrientations. More...
 
- Public Member Functions inherited from IKSolverFullBody
IKEffector GetEffector (Transform t)
 Gets the effector of the specified Transform. More...
 
FBIKChain GetChain (Transform transform)
 Gets the chain that contains the specified Transform. More...
 
override IKSolver.Point[] GetPoints ()
 Gets all the points used by the solver. More...
 
override IKSolver.Point GetPoint (Transform transform)
 Gets the point with the specified Transform. More...
 
override void StoreDefaultLocalState ()
 Stores the default local state for the bones used by the solver. More...
 
override void FixTransforms ()
 Fixes all the Transforms used by the solver to their initial state. More...
 
- Public Member Functions inherited from IKSolver
void Initiate (Transform root)
 Initiate the solver with specified root Transform. Use only if this IKSolver is not a member of an IK component. More...
 
void Update ()
 Updates the IK solver. Use only if this IKSolver is not a member of an IK component or the IK component has been disabled and you intend to manually control the updating. More...
 
Vector3 GetIKPosition ()
 Gets the IK position. NOTE: You are welcome to read IKPosition directly, this method is here only to match the Unity's built in IK API. More...
 
void SetIKPosition (Vector3 position)
 Sets the IK position. NOTE: You are welcome to set IKPosition directly, this method is here only to match the Unity's built in IK API. More...
 
float GetIKPositionWeight ()
 Gets the IK position weight. NOTE: You are welcome to read IKPositionWeight directly, this method is here only to match the Unity's built in IK API. More...
 
void SetIKPositionWeight (float weight)
 Sets the IK position weight. NOTE: You are welcome to set IKPositionWeight directly, this method is here only to match the Unity's built in IK API. More...
 
Transform GetRoot ()
 Gets the root Transform. More...
 
delegate void UpdateDelegate ()
 Delegates solver update events. More...
 
delegate void IterationDelegate (int i)
 Delegates solver iteration events. More...
 

Public Attributes

Transform rootNode
 The central root node (body). More...
 
float spineStiffness = 0.5f
 The stiffness of spine constraints. More...
 
float pullBodyVertical = 0.5f
 Weight of hand effectors pulling the body vertically (relative to root rotation). More...
 
float pullBodyHorizontal = 0f
 Weight of hand effectors pulling the body horizontally (relative to root rotation). More...
 
- Public Attributes inherited from IKSolverFullBody
int iterations = 4
 Number of solver iterations. More...
 
FBIKChain[] chain = new FBIKChain[0]
 The root node chain. More...
 
IKEffector[] effectors = new IKEffector[0]
 The effectors. More...
 
IKMappingSpine spineMapping = new IKMappingSpine()
 Mapping spine bones to the solver. More...
 
IKMappingBone[] boneMappings = new IKMappingBone[0]
 Mapping individual bones to the solver More...
 
IKMappingLimb[] limbMappings = new IKMappingLimb[0]
 Mapping 3 segment limbs to the solver More...
 
UpdateDelegate OnPreRead
 Called before reading the pose More...
 
UpdateDelegate OnPreSolve
 Called before solving. More...
 
IterationDelegate OnPreIteration
 Called before each iteration More...
 
IterationDelegate OnPostIteration
 Called after each iteration More...
 
UpdateDelegate OnPreBend
 Called before applying bend constraints. More...
 
UpdateDelegate OnPostSolve
 Called after updating the solver More...
 
- Public Attributes inherited from IKSolver
Vector3 IKPosition
 The IK position. More...
 
float IKPositionWeight = 1f
 The IK position weight. More...
 
UpdateDelegate OnPreInitiate
 Called before initiating the solver. More...
 
UpdateDelegate OnPostInitiate
 Called after initiating the solver. More...
 
UpdateDelegate OnPreUpdate
 Called before updating. More...
 
UpdateDelegate OnPostUpdate
 Called after writing the solved pose More...
 

Properties

IKEffector bodyEffector [get]
 Gets the body effector. More...
 
IKEffector leftShoulderEffector [get]
 Gets the left shoulder effector. More...
 
IKEffector rightShoulderEffector [get]
 Gets the right shoulder effector. More...
 
IKEffector leftThighEffector [get]
 Gets the left thigh effector. More...
 
IKEffector rightThighEffector [get]
 Gets the right thigh effector. More...
 
IKEffector leftHandEffector [get]
 Gets the left hand effector. More...
 
IKEffector rightHandEffector [get]
 Gets the right hand effector. More...
 
IKEffector leftFootEffector [get]
 Gets the left foot effector. More...
 
IKEffector rightFootEffector [get]
 Gets the right foot effector. More...
 
FBIKChain leftArmChain [get]
 Gets the left arm chain. More...
 
FBIKChain rightArmChain [get]
 Gets the right arm chain. More...
 
FBIKChain leftLegChain [get]
 Gets the left leg chain. More...
 
FBIKChain rightLegChain [get]
 Gets the right leg chain. More...
 
IKMappingLimb leftArmMapping [get]
 Gets the left arm IK mapping. More...
 
IKMappingLimb rightArmMapping [get]
 Gets the right arm IK mapping. More...
 
IKMappingLimb leftLegMapping [get]
 Gets the left leg IK mapping. More...
 
IKMappingLimb rightLegMapping [get]
 Gets the right leg IK mapping. More...
 
IKMappingBone headMapping [get]
 Gets the head IK mapping. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from IKSolver
static Transform ContainsDuplicateBone (Bone[] bones)
 Checks if an array of objects contains any duplicates. More...
 

Detailed Description

FBIK solver specialized to biped characters.