Initial files

Assets/Scripts/ModelViewerBase/Inverse Kinematics/InverseKinematics.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class InverseKinematics : MonoBehaviour {
+	private Material lineMaterial;
+	private Dictionary<GameObject, Transform[]> linePoints = new Dictionary<GameObject, Transform[]>();
+	public bool SoftEnabled = true;
+
+	public Transform upperArm;
+	public Transform forearm;
+	public Transform hand;
+	public Transform elbow;
+	public Transform target;
+	[Space(20)]
+	public Vector3 uppperArm_OffsetRotation;
+	public Vector3 forearm_OffsetRotation;
+	public Vector3 hand_OffsetRotation;
+	[Space(20)]
+	public bool handMatchesTargetRotation = true;
+	[Space(20)]
+	public bool linesVisible = true;
+	public bool forceLinesInvisible = true;
+
+	float angle;
+	float upperArm_Length;
+	float forearm_Length;
+	float arm_Length;
+	float targetDistance;
+	float adyacent;
+
+	public void SpawnLines(Color specialColor) {
+		lineMaterial = new Material(Shader.Find("Legacy Shaders/Particles/Alpha Blended Premultiply"));
+		NewLine(upperArm, elbow, 0.005f, Color.yellow);
+		NewLine(elbow, target, 0.005f, Color.yellow);
+		NewLine(upperArm, target, 0.005f, Color.white);
+		NewLine(forearm, elbow, 0.01f, specialColor);
+	}
+
+	void NewLine(Transform point1, Transform point2, float width, Color color)
+	{
+		GameObject go = new GameObject("line");
+		go.layer = 5;
+		go.transform.SetParent(this.transform);
+		var lr = go.AddComponent<LineRenderer>();
+		lr.startWidth = lr.endWidth = width;
+		lr.startColor = lr.endColor = color;
+		lr.sharedMaterial = lineMaterial;
+
+		linePoints.Add(go, new Transform[] { point1, point2 });
+	}
+
+	void UpdateLines()
+    {
+		foreach(var kv in linePoints)
+        {
+			var lr = kv.Key.GetComponent<LineRenderer>();
+            if (!SoftEnabled)
+            {
+				if(lr.enabled != SoftEnabled)
+				{
+					lr.enabled = SoftEnabled;
+				}
+			}
+            else if((lr.enabled != linesVisible) || (lr.enabled && forceLinesInvisible))
+			{
+				if(forceLinesInvisible)
+                {
+					lr.enabled = false;
+                }
+                else
+				{
+					lr.enabled = linesVisible;
+				}
+			}
+			for (int i = 0; i < kv.Value.Length; i++)
+            {
+				lr.SetPosition(i, kv.Value[i].position);
+			}
+        }
+    }
+
+    // Update is called once per frame
+    void LateUpdate () {
+		if(upperArm != null && forearm != null && hand != null && elbow != null && target != null)
+		{
+			if (SoftEnabled)
+			{
+				upperArm_Length = Vector3.Distance(upperArm.position, forearm.position);
+				forearm_Length = Vector3.Distance(forearm.position, hand.position);
+				arm_Length = upperArm_Length + forearm_Length;
+				targetDistance = Vector3.Distance(upperArm.position, target.position);
+				targetDistance = Mathf.Min(targetDistance, arm_Length - arm_Length * 0.001f);
+
+				upperArm.LookAt(target, elbow.position - upperArm.position);
+				upperArm.Rotate(uppperArm_OffsetRotation);
+
+				Vector3 cross = Vector3.Cross(elbow.position - upperArm.position, forearm.position - upperArm.position);
+
+				adyacent = ((upperArm_Length * upperArm_Length) - (forearm_Length * forearm_Length) + (targetDistance * targetDistance)) / (2 * targetDistance);
+
+				angle = Mathf.Acos(adyacent / upperArm_Length) * Mathf.Rad2Deg;
+
+				if (float.IsNaN(angle))
+				{
+					return;
+				}
+				Vector3 oldPosition = upperArm.localPosition;
+				upperArm.RotateAround(upperArm.position, cross, -angle);
+				upperArm.localPosition = oldPosition;
+
+				forearm.LookAt(target, cross);
+				forearm.Rotate(forearm_OffsetRotation);
+
+				if (handMatchesTargetRotation)
+				{
+					hand.rotation = target.rotation;
+					hand.Rotate(hand_OffsetRotation);
+				}
+			}
+            else
+            {
+				//target.position = hand.position;
+				//target.rotation = hand.rotation;
+				//target.Rotate(-hand_OffsetRotation);
+				//elbow.position = forearm.position;
+            }
+			UpdateLines();
+		}
+	}
+
+    private void OnDestroy()
+    {
+		Destroy(lineMaterial);
+		foreach(var i in linePoints)
+        {
+			Destroy(i.Key);
+        }
+		Destroy(elbow.gameObject);
+		Destroy(target.gameObject);
+	}
+
+    void OnDrawGizmos(){
+		if (linesVisible) {
+			if(upperArm != null && elbow != null && hand != null && target != null && elbow != null){
+				Gizmos.color = Color.gray;
+				Gizmos.DrawLine (upperArm.position, forearm.position);
+				Gizmos.DrawLine (forearm.position, hand.position);
+				Gizmos.color = Color.red;
+				Gizmos.DrawLine (upperArm.position, target.position);
+				Gizmos.color = Color.blue;
+				Gizmos.DrawLine (forearm.position, elbow.position);
+			}
+		}
+	}
+}

Assets/Scripts/ModelViewerBase/Inverse Kinematics/InverseKinematics.cs.meta

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+guid: 30d20bcf9ec4ed24b97a6e8ab136c34f
+timeCreated: 1499795966
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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