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Grapplers/Assets/Imported/CustomIK/Scripts/CustomIK.cs

+using UnityEngine;
+using System.Collections;
+
+[ExecuteInEditMode]
+
+public class CustomIK : MonoBehaviour {
+
+	#region public transforms
+	public Transform rootBone;
+	public Transform elbowBone;
+	public Transform endBone;
+
+	public Transform targetIK;
+	public Transform elbowIK;
+    #endregion
+
+    #region public settings
+    public bool debugLines;
+	public bool handRotation;
+	public bool isEnabled;
+	#endregion
+
+	void LateUpdate () {
+		if (isEnabled) {
+            if (rootBone == null || elbowBone == null || endBone == null || targetIK == null || elbowIK == null)
+            {
+                return;
+            }
+			CalculateIK ();
+		}
+	}
+
+	void CalculateIK(){
+		#region declaring and calculating
+		float upperArmLength = Vector3.Distance(rootBone.position, elbowBone.position);
+		float forearmLength = Vector3.Distance(elbowBone.position, endBone.position);
+		float armLength = upperArmLength + forearmLength;
+		float minimumLength = upperArmLength - forearmLength;
+		float targetDistance = Vector3.Distance(rootBone.position, targetIK.position);
+		float triangleHeight = CalculateTriangleHeight (upperArmLength, forearmLength, targetDistance);
+		float adjacentLength = Mathf.Sqrt (Mathf.Pow (upperArmLength, 2) - Mathf.Pow (triangleHeight, 2));
+		Vector3 adjacent = (targetIK.position - rootBone.position).normalized * adjacentLength + rootBone.position;
+		Vector3 elbowsAdjacent = CalculateElbowAdjacent ();
+		Vector3 elbowHeight = Vector3.Cross((targetIK.position - rootBone.position).normalized, (elbowIK.position - elbowsAdjacent).normalized) * -1;
+		Vector3 jointPosition = adjacent + Vector3.Cross ((targetIK.position - rootBone.position).normalized, elbowHeight)*triangleHeight;
+		float angleElbow = Vector3.Angle(rootBone.position - jointPosition, targetIK.position - jointPosition);
+		float angleUpperArm = Vector3.Angle(jointPosition - rootBone.position, targetIK.position - rootBone.position);
+		float targetAngleV; 
+			if(rootBone.position.y >= targetIK.position.y){
+			targetAngleV = Vector3.Angle(Vector3.forward, targetIK.position - rootBone.position);
+			}else{
+			targetAngleV = -Vector3.Angle(Vector3.forward, targetIK.position - rootBone.position);
+		}
+		float targetAngleH;
+
+		#endregion
+		
+		#region assign parameters
+		if (targetDistance < armLength && targetDistance > minimumLength) {
+            rootBone.localEulerAngles = new Vector3(- angleUpperArm, 0, 0);
+            elbowBone.localEulerAngles = new Vector3(180f - angleElbow, 0, 0);
+			this.transform.LookAt(targetIK.position, elbowIK.position - elbowsAdjacent);
+		}else if(targetDistance < minimumLength){
+            rootBone.localEulerAngles = Vector3.zero;
+			this.transform.LookAt(targetIK.position, elbowIK.position - elbowsAdjacent);
+            elbowBone.localEulerAngles = new Vector3(180f, 0, 0);
+		}else{
+            rootBone.localEulerAngles = Vector3.zero;
+			this.transform.LookAt(targetIK.position, elbowIK.position - elbowsAdjacent);
+            elbowBone.localEulerAngles = new Vector3(0, 0, 0);
+		}
+		#endregion
+
+		#region hand rotation
+		if(handRotation){
+            endBone.rotation = targetIK.rotation;
+		}
+		#endregion
+
+		#region debug draw
+		if (debugLines) {
+			Debug.DrawLine (rootBone.position, targetIK.position, Color.yellow);
+			Debug.DrawLine (elbowBone.position, elbowIK.position, Color.blue);
+		}
+		#endregion
+	}
+
+	#region calculate elbow height
+	Vector3 CalculateElbowAdjacent(){
+		float upperArmToElbowLength = Vector3.Distance (rootBone.position, elbowIK.position);
+		float elbowToTargetLength = Vector3.Distance (elbowIK.position, endBone.position);
+		float upperArmToTargetLength = Vector3.Distance (rootBone.position, endBone.position);
+		float triangleHeight = CalculateTriangleHeight (upperArmToElbowLength, elbowToTargetLength, upperArmToTargetLength);
+		float adjacentLength = Mathf.Sqrt (Mathf.Pow (upperArmToElbowLength, 2) - Mathf.Pow (triangleHeight, 2));
+		int isObtuse = 1;
+			if(Mathf.Pow(upperArmToElbowLength,2f) + Mathf.Pow(upperArmToTargetLength,2f) < Mathf.Pow(elbowToTargetLength,2f)){
+			isObtuse = -1;
+			}
+		Vector3 adjacent = (targetIK.position - rootBone.position).normalized * adjacentLength * isObtuse + rootBone.position;
+
+		if (debugLines) {
+			Debug.DrawLine (rootBone.position, elbowIK.position, Color.grey);
+			Debug.DrawLine (targetIK.position, elbowIK.position, Color.grey);
+			Debug.DrawLine (adjacent, elbowIK.position, Color.grey);
+		}
+
+
+		return adjacent;
+	#endregion
+	}
+
+	#region calculate triangle height
+	float CalculateTriangleHeight(float side1, float side2, float side3){
+		float halfPerimeter = (side1 + side2 + side3) / 2;
+		float triangleArea = Mathf.Sqrt (halfPerimeter * (halfPerimeter - side1) * (halfPerimeter - side2) * (halfPerimeter - side3));
+		float triangleHeightToSide3 = (2f * triangleArea) / side3;
+		return triangleHeightToSide3;
+	}
+	#endregion
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

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Grapplers/Assets/Imported/FastIK/Documentation.txt

+==========================
+Intro
+==========================
+There are two components for IK. The first on is the "Fast IK Fabric". The secound one is the "Fast IK Look". These will affect your bones.
+
+==========================
+Fast IK Fabric
+==========================
+Add the component to the last chain element for your IK chain and set the values.
+
+ChainLength (required): Chain length of bones
+Target (required): The target of the IK
+Pole (optional): Pole for bending the chain
+Iterations (required): Iterations to find good IK angles. Everything > 1 should be fine. (runtime / quality tradeoff)
+Delta (required): At which recision the algorithm should stop. (runtime / quality tradeoff)
+SnapBackStrength (required): The force that is used to get back to the start position of the bones.
+
+During runtime you can move the target and the pole. You could also move the first bone of the chain. The other bones are imovable.
+
+==> Look at the demo scene of an example
+
+==========================
+Fast IK Look
+==========================
+Add the component to the chain element for any bone in you rig.
+
+Target (required): The target that should be faced
+
+During runtime you can move the target.
+
+==> Look at the demo scene of an example
+
+
+==========================
+Support
+==========================
+xxxditzelxxx@gmail.com
\ No newline at end of file

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