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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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Grapplers/Assets/Imported/FastIK/Scripts/Sample/SampleProcedualAnimation.cs

+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    class SampleProcedualAnimation :  MonoBehaviour
+    {
+        public Transform[] FootTarget;
+        public Transform LookTarget;
+        public Transform HandTarget;
+        public Transform HandPole;
+        public Transform Step;
+        public Transform Attraction;
+
+        public void LateUpdate()
+        {
+            //move step & attraction
+            Step.Translate(Vector3.forward * Time.deltaTime * 0.7f);
+            if (Step.position.z > 1f)
+                Step.position = Step.position + Vector3.forward * -2f;
+            Attraction.Translate(Vector3.forward * Time.deltaTime * 0.5f);
+            if (Attraction.position.z > 1f)
+                Attraction.position = Attraction.position + Vector3.forward * -2f;
+
+            //footsteps
+            for(int i = 0; i < FootTarget.Length; i++)
+            {
+                var foot = FootTarget[i];
+                var ray = new Ray(foot.transform.position + Vector3.up * 0.5f, Vector3.down);
+                var hitInfo = new RaycastHit();
+                if(Physics.SphereCast(ray, 0.05f, out hitInfo, 0.50f))
+                    foot.position = hitInfo.point + Vector3.up * 0.05f;
+            }
+
+            //hand and look
+            var normDist = Mathf.Clamp((Vector3.Distance(LookTarget.position, Attraction.position) - 0.3f) / 1f, 0, 1);
+            HandTarget.rotation = Quaternion.Lerp(Quaternion.Euler(90, 0, 0), HandTarget.rotation, normDist);
+            HandTarget.position = Vector3.Lerp(Attraction.position, HandTarget.position, normDist);
+            HandPole.position = Vector3.Lerp(HandTarget.position + Vector3.down * 2, HandTarget.position + Vector3.forward * 2f, normDist);
+            LookTarget.position = Vector3.Lerp(Attraction.position, LookTarget.position, normDist);
+
+
+        }
+
+    }
+}

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Grapplers/Assets/Imported/FastIK/Scripts/Sample/SampleRotator.cs

+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    public class SampleRotator : MonoBehaviour
+    {
+        
+        void Update()
+        {
+            //just rotate the object
+            transform.Rotate(0, Time.deltaTime * 90, 0);
+        }
+    }
+}

Grapplers/Assets/Imported/FastIK/Scripts/Sample/SampleRotator.cs.meta

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Grapplers/Assets/Imported/FastIK/Scripts/Sample/SampleSinMover.cs

+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    public class SampleSinMover : MonoBehaviour
+    {
+        public Vector3 Dir;
+        public Vector3 Start;
+
+        private void Awake()
+        {
+            Start = transform.position;
+        }
+
+        void Update()
+        {
+            //just move the object from a to b and back
+            transform.position = Start + Dir * Mathf.Sin(Time.timeSinceLevelLoad);
+        }
+    }
+}

Grapplers/Assets/Imported/FastIK/Scripts/Sample/SampleSinMover.cs.meta

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Grapplers/Assets/Models/Player Animation.controller

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+  - {fileID: 2825373331163719230}
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   m_IKOnFeet: 0
@@ -102,20 +103,18 @@ AnimatorStateMachine:
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   m_ChildStateMachines: []
   m_AnyStateTransitions: []
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   m_StateMachineBehaviours: []
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+  m_AnyStatePosition: {x: 270, y: 180, z: 0}
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-  m_DstState: {fileID: -8310753315755443188}
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   m_InterruptionSource: 0
   m_OrderedInterruption: 1
   m_CanTransitionToSelf: 1
+--- !u!1102 &-2776815457445588547
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+  m_WriteDefaultValues: 1
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+  m_Motion: {fileID: -203655887218126122, guid: a2124e1c9b39b8d4593a8c50ce889eb4,
+    type: 3}
+  m_Tag: 
+  m_SpeedParameter: 
+  m_MirrorParameter: 
+  m_CycleOffsetParameter: 
+  m_TimeParameter: 
+--- !u!1109 &-2362283668529969815
+AnimatorTransition:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: 
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+  m_DstStateMachine: {fileID: 0}
+  m_DstState: {fileID: -8310753315755443188}
+  m_Solo: 0
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+  m_IsExit: 0
+  serializedVersion: 1
 --- !u!1101 &-2207737589099317200
 AnimatorStateTransition:
   m_ObjectHideFlags: 1
@@ -250,6 +294,31 @@ AnimatorStateTransition:
   m_InterruptionSource: 0
   m_OrderedInterruption: 1
   m_CanTransitionToSelf: 1
+--- !u!1101 &-334759772722347630
+AnimatorStateTransition:
+  m_ObjectHideFlags: 1
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_Name: 
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+    m_ConditionEvent: Launch
+    m_EventTreshold: 0
+  m_DstStateMachine: {fileID: 0}
+  m_DstState: {fileID: 3815690797912992926}
+  m_Solo: 0
+  m_Mute: 0
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+  m_TransitionDuration: 0.25
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+  m_ExitTime: 0.84504133
+  m_HasExitTime: 0
+  m_HasFixedDuration: 1
+  m_InterruptionSource: 0
+  m_OrderedInterruption: 1
+  m_CanTransitionToSelf: 1
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 AnimatorController:
   m_ObjectHideFlags: 0
@@ -370,12 +439,14 @@ AnimatorStateMachine:
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     m_State: {fileID: 6033817399047227569}
     m_Position: {x: 270, y: 130, z: 0}
+  - serializedVersion: 1
+    m_State: {fileID: 3815690797912992926}
+    m_Position: {x: 510, y: 70, z: 0}
   m_ChildStateMachines:
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     m_StateMachine: {fileID: -6978701619094265448}
     m_Position: {x: 290, y: 10, z: 0}
-  m_AnyStateTransitions:
-  - {fileID: 5109386336092719883}
+  m_AnyStateTransitions: []
   m_EntryTransitions: []
   m_StateMachineTransitions:
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@@ -387,34 +458,6 @@ AnimatorStateMachine:
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   m_DefaultState: {fileID: 6033817399047227569}
---- !u!1102 &1855224088717569183
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-  m_ObjectHideFlags: 1
-  m_CorrespondingSourceObject: {fileID: 0}
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-  m_PrefabAsset: {fileID: 0}
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---- !u!1101 &5109386336092719883
+--- !u!1101 &2825373331163719230
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+--- !u!1101 &3708743631299876350
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+  m_PrefabAsset: {fileID: 0}
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+    type: 3}
+  m_Tag: 
+  m_SpeedParameter: 
+  m_MirrorParameter: 
+  m_CycleOffsetParameter: 
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+--- !u!1101 &4511173483608467587
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+  m_PrefabInstance: {fileID: 0}
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@@ -495,6 +617,28 @@ AnimatorStateTransition:
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@@ -536,6 +681,7 @@ AnimatorState:
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@@ -659,9 +805,9 @@ AnimatorStateTransition:
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Grapplers/Assets/PlayerIK.cs

@@ -2,20 +2,39 @@
 using System.Collections.Generic;
 using UnityEngine;
 
+using DitzelGames.FastIK;
+
 public class PlayerIK : MonoBehaviour
 {
     // Start is called before the first frame update
 
-    Animator animator;
+    public GameObject gunTarget;
+    public Transform cam;
+    public GameObject shoulder;
+    public GameObject poleTarget;
+
     void Start()
     {
-        animator = GetComponentInChildren<Animator>();
     }
 
     // Update is called once per frame
     void Update()
     {
-        animator.SetIKPositionWeight(AvatarIKGoal.RightHand, 1);
-        animator.SetIKPosition(AvatarIKGoal.RightHand, transform.InverseTransformPoint(new Vector3(0, 1, 1)));
+        float x = transform.InverseTransformPoint(shoulder.transform.position).x;
+        float z = transform.InverseTransformPoint(shoulder.transform.position).z;
+        Debug.Log(x);
+        gunTarget.transform.position = transform.TransformPoint(new Vector3(x*2+0.3f, 0.6f, -0.2f)) + cam.forward*0.5f;
+        poleTarget.transform.position = transform.TransformPoint(new Vector3(1.0f, 0.0f, -0.1f + z));
     }
-}
+
+    void OnDrawGizmos()
+    {
+#if UNITY_EDITOR
+        var current = this.transform;
+        Gizmos.DrawWireSphere(gunTarget.transform.position, 0.1f);
+        Gizmos.DrawWireSphere(poleTarget.transform.position, 0.1f);
+#endif
+
+    }
+
+}
\ No newline at end of file

Grapplers/Assets/Prefabs/AirplaneEnemy.prefab

@@ -9,8 +9,6 @@ GameObject:
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-  - component: {fileID: 808483076966640906}
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Grapplers/Assets/Scenes/Mapwork_Profiles/Main Camera Profile.asset

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     value: 1
   intensity:
     overrideState: 1
-    value: 10
+    value: 8.78
   threshold:
     overrideState: 0
     value: 1
@@ -112,15 +112,15 @@ MonoBehaviour:
     value: -62
   saturation:
     overrideState: 1
-    value: 68
+    value: -17.4
   brightness:
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     value: 0
   postExposure:
     overrideState: 1
-    value: -1
+    value: -0.8
   contrast:
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+    overrideState: 1
     value: 26
   mixerRedOutRedIn:
     overrideState: 0

Grapplers/Assets/Scripts/FastIK.meta

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+DefaultImporter:
+  externalObjects: {}
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Grapplers/Assets/Scripts/FastIK/FastIKCCD.cs

+using UnityEngine;
+/*
+public class IKCCD : MonoBehaviour
+{
+    public int ChainLength = 2;
+    public Transform Target;
+    protected Quaternion TargetInitialRotation;
+    protected Quaternion EndInitialRotation;
+    public Transform Pole;
+    protected float CompleteLength;
+
+    public int Iterations = 10;
+    public float Delta = 0.001f;
+
+    protected Transform[] Bones;
+    //protected Quaternion[] InitialRotation;
+
+
+    // Start is called before the first frame update
+    void Awake()
+    {
+        //initial length
+        Bones = new Transform[ChainLength + 1];
+        //InitialRotation = new Quaternion[ChainLength + 1];
+        TargetInitialRotation = Target.rotation;
+        EndInitialRotation = transform.rotation;
+
+        var current = transform;
+        CompleteLength = 0;
+        for (int i = ChainLength - 1; i >= 0; i--)
+        {
+            CompleteLength += (current.position - current.parent.position).magnitude;
+            Bones[i + 1] = current;
+            Bones[i] = current.parent;
+            //InitialRotation[i + 1] = current.rotation;
+            //InitialRotation[i] = current.parent.rotation;
+            current = current.parent;
+        }
+        if (Bones[0] == null)
+            throw new UnityException("The chain value is longer than the ancestor chain!");
+    }
+
+    // Update is called once per frame
+    void LateUpdate()
+    {
+        //CCD
+        var lastBone = Bones[Bones.Length - 1];
+
+        //for (var i = 0; i < Bones.Length; i++)
+        //  Bones[i].rotation = InitialRotation[i];
+
+        for (int iteration = 0; iteration < Iterations; iteration++)
+        {
+            for (var i = Bones.Length - 1; i >= 0; i--)
+            {
+                //https://www.youtube.com/watch?v=MA1nT9RAF3k
+
+                if (i == Bones.Length - 1)
+                {
+                    Bones[i].rotation = Target.rotation * Quaternion.Inverse(TargetInitialRotation) * EndInitialRotation;
+                }
+                else
+                {
+                    Bones[i].rotation = Quaternion.FromToRotation(lastBone.position - Bones[i].position, Target.position - Bones[i].position) * Bones[i].rotation;
+
+                    //jitter to solve strait line
+                    //if (iteration == 5 && i == 0 && (Target.position - lastBone.position).sqrMagnitude > 0.01f && (Target.position - Bones[i].position).sqrMagnitude < CompleteLength * CompleteLength)
+                    //    Bones[i].rotation = Quaternion.AngleAxis(10, Vector3.up) * Bones[i].rotation;
+
+                    //move towards pole
+                    if (Pole != null && i + 2 <= Bones.Length - 1)
+                    {
+                        var plane = new Plane(Bones[i + 2].position - Bones[i].position, Bones[i].position);
+                        var projectedPole = plane.ClosestPointOnPlane(Pole.position);
+                        var projectedBone = plane.ClosestPointOnPlane(Bones[i + 1].position);
+                        if ((projectedBone - Bones[i].position).sqrMagnitude > 0.01f)
+                        {
+                            var angle = Vector3.SignedAngle(projectedBone - Bones[i].position, projectedPole - Bones[i].position, plane.normal);
+                            Bones[i].rotation = Quaternion.AngleAxis(angle, plane.normal) * Bones[i].rotation;
+                        }
+                    }
+                }
+
+
+                //close enough?
+                if ((lastBone.position - Target.position).sqrMagnitude < Delta * Delta)
+                    break;
+            }
+        }
+
+    }
+    
+
+}
+*/
\ No newline at end of file

Grapplers/Assets/Scripts/FastIK/FastIKCCD.cs.meta

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+guid: 12ebedeac55c4bb4aa003bfe2e00556e
+MonoImporter:
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Grapplers/Assets/Scripts/FastIK/FastIKFabric.cs

+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    /// <summary>
+    /// Fabrik IK Solver
+    /// </summary>
+    public class FastIKFabric : MonoBehaviour
+    {
+        /// <summary>
+        /// Chain length of bones
+        /// </summary>
+        public int ChainLength = 2;
+
+        /// <summary>
+        /// Target the chain should bent to
+        /// </summary>
+        public Transform Target;
+        public Transform Pole;
+
+        /// <summary>
+        /// Solver iterations per update
+        /// </summary>
+        [Header("Solver Parameters")]
+        public int Iterations = 10;
+
+        /// <summary>
+        /// Distance when the solver stops
+        /// </summary>
+        public float Delta = 0.001f;
+
+        /// <summary>
+        /// Strength of going back to the start position.
+        /// </summary>
+        [Range(0, 1)]
+        public float SnapBackStrength = 1f;
+
+
+        protected float[] BonesLength; //Target to Origin
+        protected float CompleteLength;
+        protected Transform[] Bones;
+        protected Vector3[] Positions;
+        protected Vector3[] StartDirectionSucc;
+        protected Quaternion[] StartRotationBone;
+        protected Quaternion StartRotationTarget;
+        protected Transform Root;
+
+
+        // Start is called before the first frame update
+        void Awake()
+        {
+            Init();
+        }
+
+        void Init()
+        {
+            //initial array
+            Bones = new Transform[ChainLength + 1];
+            Positions = new Vector3[ChainLength + 1];
+            BonesLength = new float[ChainLength];
+            StartDirectionSucc = new Vector3[ChainLength + 1];
+            StartRotationBone = new Quaternion[ChainLength + 1];
+
+            //find root
+            Root = transform;
+            for (var i = 0; i <= ChainLength; i++)
+            {
+                if (Root == null)
+                    throw new UnityException("The chain value is longer than the ancestor chain!");
+                Root = Root.parent;
+            }
+
+            //init target
+            if (Target == null)
+            {
+                Target = new GameObject(gameObject.name + " Target").transform;
+                SetPositionRootSpace(Target, GetPositionRootSpace(transform));
+            }
+            StartRotationTarget = GetRotationRootSpace(Target);
+
+
+            //init data
+            var current = transform;
+            CompleteLength = 0;
+            for (var i = Bones.Length - 1; i >= 0; i--)
+            {
+                Bones[i] = current;
+                StartRotationBone[i] = GetRotationRootSpace(current);
+
+                if (i == Bones.Length - 1)
+                {
+                    //leaf
+                    StartDirectionSucc[i] = GetPositionRootSpace(Target) - GetPositionRootSpace(current);
+                }
+                else
+                {
+                    //mid bone
+                    StartDirectionSucc[i] = GetPositionRootSpace(Bones[i + 1]) - GetPositionRootSpace(current);
+                    BonesLength[i] = StartDirectionSucc[i].magnitude;
+                    CompleteLength += BonesLength[i];
+                }
+
+                current = current.parent;
+            }
+
+
+
+        }
+
+        // Update is called once per frame
+        void LateUpdate()
+        {
+            ResolveIK();
+        }
+
+        private void ResolveIK()
+        {
+            if (Target == null)
+                return;
+
+            if (BonesLength.Length != ChainLength)
+                Init();
+
+            //Fabric
+
+            //  root
+            //  (bone0) (bonelen 0) (bone1) (bonelen 1) (bone2)...
+            //   x--------------------x--------------------x---...
+
+            //get position
+            for (int i = 0; i < Bones.Length; i++)
+                Positions[i] = GetPositionRootSpace(Bones[i]);
+
+            var targetPosition = GetPositionRootSpace(Target);
+            var targetRotation = GetRotationRootSpace(Target);
+
+            //1st is possible to reach?
+            if ((targetPosition - GetPositionRootSpace(Bones[0])).sqrMagnitude >= CompleteLength * CompleteLength)
+            {
+                //just strech it
+                var direction = (targetPosition - Positions[0]).normalized;
+                //set everything after root
+                for (int i = 1; i < Positions.Length; i++)
+                    Positions[i] = Positions[i - 1] + direction * BonesLength[i - 1];
+            }
+            else
+            {
+                for (int i = 0; i < Positions.Length - 1; i++)
+                    Positions[i + 1] = Vector3.Lerp(Positions[i + 1], Positions[i] + StartDirectionSucc[i], SnapBackStrength);
+
+                for (int iteration = 0; iteration < Iterations; iteration++)
+                {
+                    //https://www.youtube.com/watch?v=UNoX65PRehA
+                    //back
+                    for (int i = Positions.Length - 1; i > 0; i--)
+                    {
+                        if (i == Positions.Length - 1)
+                            Positions[i] = targetPosition; //set it to target
+                        else
+                            Positions[i] = Positions[i + 1] + (Positions[i] - Positions[i + 1]).normalized * BonesLength[i]; //set in line on distance
+                    }
+
+                    //forward
+                    for (int i = 1; i < Positions.Length; i++)
+                        Positions[i] = Positions[i - 1] + (Positions[i] - Positions[i - 1]).normalized * BonesLength[i - 1];
+
+                    //close enough?
+                    if ((Positions[Positions.Length - 1] - targetPosition).sqrMagnitude < Delta * Delta)
+                        break;
+                }
+            }
+
+            //move towards pole
+            if (Pole != null)
+            {
+                var polePosition = GetPositionRootSpace(Pole);
+                for (int i = 1; i < Positions.Length - 1; i++)
+                {
+                    var plane = new Plane(Positions[i + 1] - Positions[i - 1], Positions[i - 1]);
+                    var projectedPole = plane.ClosestPointOnPlane(polePosition);
+                    var projectedBone = plane.ClosestPointOnPlane(Positions[i]);
+                    var angle = Vector3.SignedAngle(projectedBone - Positions[i - 1], projectedPole - Positions[i - 1], plane.normal);
+                    Positions[i] = Quaternion.AngleAxis(angle, plane.normal) * (Positions[i] - Positions[i - 1]) + Positions[i - 1];
+                }
+            }
+
+            //set position & rotation
+            for (int i = 0; i < Positions.Length; i++)
+            {
+                if (i == Positions.Length - 1)
+                    SetRotationRootSpace(Bones[i], Quaternion.Inverse(targetRotation) * StartRotationTarget * Quaternion.Inverse(StartRotationBone[i]));
+                else
+                    SetRotationRootSpace(Bones[i], Quaternion.FromToRotation(StartDirectionSucc[i], Positions[i + 1] - Positions[i]) * Quaternion.Inverse(StartRotationBone[i]));
+                SetPositionRootSpace(Bones[i], Positions[i]);
+            }
+        }
+
+        private Vector3 GetPositionRootSpace(Transform current)
+        {
+            if (Root == null)
+                return current.position;
+            else
+                return Quaternion.Inverse(Root.rotation) * (current.position - Root.position);
+        }
+
+        private void SetPositionRootSpace(Transform current, Vector3 position)
+        {
+            if (Root == null)
+                current.position = position;
+            else
+                current.position = Root.rotation * position + Root.position;
+        }
+
+        private Quaternion GetRotationRootSpace(Transform current)
+        {
+            //inverse(after) * before => rot: before -> after
+            if (Root == null)
+                return current.rotation;
+            else
+                return Quaternion.Inverse(current.rotation) * Root.rotation;
+        }
+
+        private void SetRotationRootSpace(Transform current, Quaternion rotation)
+        {
+            if (Root == null)
+                current.rotation = rotation;
+            else
+                current.rotation = Root.rotation * rotation;
+        }
+
+        void OnDrawGizmos()
+        {
+#if UNITY_EDITOR
+            var current = this.transform;
+            for (int i = 0; i < ChainLength && current != null && current.parent != null; i++)
+            {
+                var scale = Vector3.Distance(current.position, current.parent.position) * 0.1f;
+                Handles.matrix = Matrix4x4.TRS(current.position, Quaternion.FromToRotation(Vector3.up, current.parent.position - current.position), new Vector3(scale, Vector3.Distance(current.parent.position, current.position), scale));
+                Handles.color = Color.green;
+                Handles.DrawWireCube(Vector3.up * 0.5f, Vector3.one);
+                current = current.parent;
+            }
+        }
+#endif
+
+    }
+}
\ No newline at end of file

Grapplers/Assets/Scripts/FastIK/FastIKFabric.cs.meta

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+  userData: 
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+  assetBundleVariant: 

Grapplers/Assets/Scripts/FastIK/FastIKLook.cs

+using UnityEngine;
+
+namespace DitzelGames.FastIK
+{
+    public class FastIKLook : MonoBehaviour
+    {
+        /// <summary>
+        /// Look at target
+        /// </summary>
+        public Transform Target;
+
+        /// <summary>
+        /// Initial direction
+        /// </summary>
+        protected Vector3 StartDirection;
+
+        /// <summary>
+        /// Initial Rotation
+        /// </summary>
+        protected Quaternion StartRotation;
+
+        void Awake()
+        {
+            if (Target == null)
+                return;
+
+            StartDirection = Target.position - transform.position;
+            StartRotation = transform.rotation;
+        }
+
+        void Update()
+        {
+            if (Target == null)
+                return;
+
+
+            transform.rotation = Quaternion.FromToRotation(StartDirection, Target.position - transform.position) * StartRotation;
+        }
+    }
+}

Grapplers/Assets/Scripts/FastIK/FastIKLook.cs.meta

+fileFormatVersion: 2
+guid: 5db2cc9d15d8e1c4e81fbc747c163d99
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Grapplers/Assets/Scripts/PlayerController.cs

@@ -198,7 +198,12 @@ public class PlayerController : MonoBehaviour
         {
             movement = Mathf.Lerp(movement, 1, 0.05f);
         }
-        animator.SetFloat("Movement", movement);
+        animator.SetFloat("Movement", normalizedClamp(movement, 0.2f, 0.8f));
         animator.SetBool("Connected", joint.enabled);
     }
+
+    private float normalizedClamp(float t, float a, float b)
+    {
+        return (Mathf.Clamp(t, a, b) - a) / (b - a);
+    }
 }
\ No newline at end of file