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Biped IK

IK system for standard biped characters that is designed to replicate and enhance the behaviour of the Unity's built-in character IK setup.

BipedIK or FullBodyBipedIK?
Originally the only benefit of BipedIK over FullBodyBipedIK was it's much better performance. However, since FinalIK 0.4, we are able to set FBBIK solver iteration count to 0, in which case the full body effect will not be solved and it is almost as fast as BipedIK. This allows for much easier optimization of IK on characters in the distance. Therefore, since 0.4, FullBodyBipedIK component is the recommended solution for solving biped characters.

BipedIK or Unity's Animator IK?

To simplify migration from Unity's built-in Animator IK, BipedIK supports the same API, so you can just go from animator.SetIKPosition(...) to bipedIK.SetIKPosition(...).

BipedIK, like any other component in the FinalIK package, goes out of it's way to minimize the work required for set up. BipedIK automatically detects the biped bones based on the bone structure of the character and the most common naming conventions, so unless you have named your bones in Chinese, you should have BipedIK ready for work as soon as you can drop in the component. If BipedIK fails to recognize the bone references or you just want to change them, you can always manage the references from the inspector.


Getting started:

Accessing the solvers of Biped IK:

public BipedIK bipedIK;
void LateUpdate () {
bipedIK.solvers.leftFoot.IKPosition = something;
bipedIK.solvers.spine.IKPosition = something;

Adding BipedIK in runtime:

Component variables:

Solver variables: