koobas.hobune.stream
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Could you help me convert this script to C#?
I am working in an inverse kinematic system. A very simple one to make foot Ik. I need this script in C#. Sorry to ask this, but I have no idea on how JS works, I prefer to work in C#. Thank you.
var upperArm : Transform;
var forearm : Transform;
var hand : Transform;
var target : Transform;
var elbowTarget : Transform;
var IsEnabled : boolean = true;
var debug : boolean = true;
var transition : float = 1.0;
private var upperArmStartRotation : Quaternion;
private var forearmStartRotation : Quaternion;
private var handStartRotation : Quaternion;
private var targetRelativeStartPosition : Vector3;
private var elbowTargetRelativeStartPosition : Vector3;
function Start(){
upperArmStartRotation = upperArm.rotation;
forearmStartRotation = forearm.rotation;
handStartRotation = hand.rotation;
targetRelativeStartPosition = target.position - upperArm.position;
elbowTargetRelativeStartPosition = elbowTarget.position - upperArm.position;
}
function LateUpdate () {
if (!IsEnabled){
return;
}
CalculateIK();
}
function CalculateIK(){
//Calculate ikAngle variable.
var upperArmLength : float = Vector3.Distance(upperArm.position, forearm.position);
var forearmLength : float = Vector3.Distance(forearm.position, hand.position);
var armLength : float = upperArmLength + forearmLength;
var hypotenuse : float = upperArmLength;
var targetDistance : float = Vector3.Distance(upperArm.position, target.position);
targetDistance = Mathf.Min(targetDistance, armLength - 0.0001); //Do not allow target distance be further away than the arm's length.
//var adjacent : float = (targetDistance * hypotenuse) / armLength;
var adjacent : float = (Mathf.Pow(hypotenuse,2) - Mathf.Pow(forearmLength,2) + Mathf.Pow(targetDistance,2))/(2*targetDistance);
Debug.Log(adjacent);
var ikAngle : float = Mathf.Acos(adjacent/hypotenuse) * Mathf.Rad2Deg;
//Store pre-ik info.
var targetPosition : Vector3 = target.position;
var elbowTargetPosition : Vector3 = elbowTarget.position;
var upperArmParent : Transform = upperArm.parent;
var forearmParent : Transform = forearm.parent;
var handParent : Transform = hand.parent;
var upperArmScale : Vector3 = upperArm.localScale;
var forearmScale : Vector3 = forearm.localScale;
var handScale : Vector3 = hand.localScale;
var upperArmLocalPosition : Vector3 = upperArm.localPosition;
var forearmLocalPosition : Vector3 = forearm.localPosition;
var handLocalPosition : Vector3 = hand.localPosition;
var upperArmRotation : Quaternion = upperArm.rotation;
var forearmRotation : Quaternion = forearm.rotation;
var handRotation : Quaternion = hand.rotation;
//Reset arm.
target.position = targetRelativeStartPosition + upperArm.position;
elbowTarget.position = elbowTargetRelativeStartPosition + upperArm.position;
upperArm.rotation = upperArmStartRotation;
forearm.rotation = forearmStartRotation;
hand.rotation = handStartRotation;
//Work with temporaty game objects and align & parent them to the arm.
transform.position = upperArm.position;
transform.LookAt(targetPosition, elbowTargetPosition - transform.position);
var upperArmAxisCorrection : GameObject = new GameObject("upperArmAxisCorrection");
var forearmAxisCorrection : GameObject = new GameObject("forearmAxisCorrection");
var handAxisCorrection : GameObject = new GameObject("handAxisCorrection");
upperArmAxisCorrection.transform.position = upperArm.position;
upperArmAxisCorrection.transform.LookAt(forearm.position, transform.root.up);
upperArmAxisCorrection.transform.parent = transform;
upperArm.parent = upperArmAxisCorrection.transform;
forearmAxisCorrection.transform.position = forearm.position;
forearmAxisCorrection.transform.LookAt(hand.position, transform.root.up);
forearmAxisCorrection.transform.parent = upperArmAxisCorrection.transform;
forearm.parent = forearmAxisCorrection.transform;
handAxisCorrection.transform.position = hand.position;
handAxisCorrection.transform.parent = forearmAxisCorrection.transform;
hand.parent = handAxisCorrection.transform;
//Reset targets.
target.position = targetPosition;
elbowTarget.position = elbowTargetPosition;
//Apply rotation for temporary game objects.
upperArmAxisCorrection.transform.LookAt(target,elbowTarget.position - upperArmAxisCorrection.transform.position);
upperArmAxisCorrection.transform.localRotation.eulerAngles.x -= ikAngle;
forearmAxisCorrection.transform.LookAt(target,elbowTarget.position - upperArmAxisCorrection.transform.position);
handAxisCorrection.transform.rotation = target.rotation;
//Restore limbs.
upperArm.parent = upperArmParent;
forearm.parent = forearmParent;
hand.parent = handParent;
upperArm.localScale = upperArmScale;
forearm.localScale = forearmScale;
hand.localScale = handScale;
upperArm.localPosition = upperArmLocalPosition;
forearm.localPosition = forearmLocalPosition;
hand.localPosition = handLocalPosition;
//Clean up temporary game objets.
Destroy(upperArmAxisCorrection);
Destroy(forearmAxisCorrection);
Destroy(handAxisCorrection);
//Transition.
transition = Mathf.Clamp01(transition);
upperArm.rotation = Quaternion.Slerp(upperArmRotation, upperArm.rotation, transition);
forearm.rotation = Quaternion.Slerp(forearmRotation, forearm.rotation, transition);
hand.rotation = Quaternion.Slerp(handRotation, hand.rotation, transition);
//Debug.
if (debug){
Debug.DrawLine(forearm.position, elbowTarget.position, Color.yellow);
Debug.DrawLine(upperArm.position, target.position, Color.red);
}
}
Just one suggestion: try converting this script by yourself. It is not as hard as you might think. If there are few issues remaining ask people for help.
You can even use online converters like this one here.
Or rather post this conversion task on Forum to help make UA a better technical Q&A site.
if you understand c# you must be able to get through this code easily. most stuff is the same as c# you only need to change 1. the variable declarations 2. function declarations 3. encapsulate this code in the class declaration 4. add the #import statements on top
the rest of the code like calling functions, for loops, etc. is the same
one thing to consider though is to make sure the privacy of the variables / functions is set as you need them. for example in JS declaring a variable without 'private' or 'public' keyword makes the variable public by default, while in c# the default is private.
good luck ;)
Thanks, I already converted my file into C#, but I am not sure if it is correct. Could you check it if everything I did is fine? Because I speak spanish, and is difficult for me to completely do$$anonymous$$ate the scripting language, because there are many things I dont quite understand.
I uploaded an attachmentlink text
Read and looks good to me. Now you just need to check if it compiles and runs properly and then you have done it.
See, it's not that hard. ;-)
I already converted this file by myself, but it is not working. Specially the public transforms doesnt appear.
And this line gets an error
upperArmAxisCorrection.transform.localRotation.eulerAngles.x -= ikAngle;
I cant do more than that. Please help!
I cant do more than what I have done, and it is not working.
Best Answer
There are two things that needed fix.
1) You need to append an 'f' after a float value. Like: public float transition = 1.0f;
2) And you need to store your result in a temporary variable and assign it to your rotation. I solved this in your script using:
float newUpperArmAxisCorrectionX = upperArmAxisCorrection.transform.localRotation.eulerAngles.x - ikAngle;
upperArmAxisCorrection.transform.localRotation = Quaternion.Euler(newUpperArmAxisCorrectionX, upperArmAxisCorrection.transform.localRotation.eulerAngles.y, upperArmAxisCorrection.transform.localRotation.eulerAngles.z);
Here's is a script without compiler errors for you:
using UnityEngine;
using System.Collections;
public class ikLimb : MonoBehaviour {
public Transform upperArm;
public Transform forearm;
public Transform hand;
public Transform target;
public Transform elbowTarget;
public bool IsEnabled = true;
public bool debug = true;
public float transition = 1.0f;
private Quaternion upperArmStartRotation;
private Quaternion forearmStartRotation;
private Quaternion handStartRotation;
private Vector3 targetRelativeStartPosition;
private Vector3 elbowTargetRelativeStartPosition;
// Use this for initialization
void Start () {
upperArmStartRotation = upperArm.rotation;
forearmStartRotation = forearm.rotation;
handStartRotation = hand.rotation;
targetRelativeStartPosition = target.position - upperArm.position;
elbowTargetRelativeStartPosition = elbowTarget.position - upperArm.position;
}
void LateUpdate()
{
if (!IsEnabled)
{
return;
}
CalculateIK();
}
void CalculateIK(){
//Calculate ikAngle variable.
float upperArmLength = Vector3.Distance(upperArm.position, forearm.position);
float forearmLength = Vector3.Distance(forearm.position, hand.position);
float armLength = upperArmLength + forearmLength;
float hypotenuse = upperArmLength;
float targetDistance = Vector3.Distance(upperArm.position, target.position);
targetDistance = Mathf.Min(targetDistance, armLength - 0.0001f); //Do not allow target distance be further away than the arm's length.
//var adjacent : float = (targetDistance * hypotenuse) / armLength;
float adjacent = (Mathf.Pow(hypotenuse,2) - Mathf.Pow(forearmLength,2) + Mathf.Pow(targetDistance,2))/(2*targetDistance);
Debug.Log(adjacent);
float ikAngle = Mathf.Acos(adjacent/hypotenuse) * Mathf.Rad2Deg;
//Store pre-ik info.
Vector3 targetPosition = target.position;
Vector3 elbowTargetPosition = elbowTarget.position;
Transform upperArmParent = upperArm.parent;
Transform forearmParent = forearm.parent;
Transform handParent = hand.parent;
Vector3 upperArmScale = upperArm.localScale;
Vector3 forearmScale = forearm.localScale;
Vector3 handScale = hand.localScale;
Vector3 upperArmLocalPosition = upperArm.localPosition;
Vector3 forearmLocalPosition = forearm.localPosition;
Vector3 handLocalPosition = hand.localPosition;
Quaternion upperArmRotation = upperArm.rotation;
Quaternion forearmRotation = forearm.rotation;
Quaternion handRotation = hand.rotation;
//Reset arm.
target.position = targetRelativeStartPosition + upperArm.position;
elbowTarget.position = elbowTargetRelativeStartPosition + upperArm.position;
upperArm.rotation = upperArmStartRotation;
forearm.rotation = forearmStartRotation;
hand.rotation = handStartRotation;
//Work with temporaty game objects and align & parent them to the arm.
transform.position = upperArm.position;
transform.LookAt(targetPosition, elbowTargetPosition - transform.position);
GameObject upperArmAxisCorrection = new GameObject("upperArmAxisCorrection");
GameObject forearmAxisCorrection = new GameObject("forearmAxisCorrection");
GameObject handAxisCorrection = new GameObject("handAxisCorrection");
upperArmAxisCorrection.transform.position = upperArm.position;
upperArmAxisCorrection.transform.LookAt(forearm.position, transform.root.up);
upperArmAxisCorrection.transform.parent = transform;
upperArm.parent = upperArmAxisCorrection.transform;
forearmAxisCorrection.transform.position = forearm.position;
forearmAxisCorrection.transform.LookAt(hand.position, transform.root.up);
forearmAxisCorrection.transform.parent = upperArmAxisCorrection.transform;
forearm.parent = forearmAxisCorrection.transform;
handAxisCorrection.transform.position = hand.position;
handAxisCorrection.transform.parent = forearmAxisCorrection.transform;
hand.parent = handAxisCorrection.transform;
//Reset targets.
target.position = targetPosition;
elbowTarget.position = elbowTargetPosition;
//Apply rotation for temporary game objects.
upperArmAxisCorrection.transform.LookAt(target,elbowTarget.position - upperArmAxisCorrection.transform.position);
float newUpperArmAxisCorrectionX = upperArmAxisCorrection.transform.localRotation.eulerAngles.x - ikAngle;
upperArmAxisCorrection.transform.localRotation = Quaternion.Euler(newUpperArmAxisCorrectionX, upperArmAxisCorrection.transform.localRotation.eulerAngles.y, upperArmAxisCorrection.transform.localRotation.eulerAngles.z);
forearmAxisCorrection.transform.LookAt(target, elbowTarget.position - upperArmAxisCorrection.transform.position);
handAxisCorrection.transform.rotation = target.rotation;
//Restore limbs.
upperArm.parent = upperArmParent;
forearm.parent = forearmParent;
hand.parent = handParent;
upperArm.localScale = upperArmScale;
forearm.localScale = forearmScale;
hand.localScale = handScale;
upperArm.localPosition = upperArmLocalPosition;
forearm.localPosition = forearmLocalPosition;
hand.localPosition = handLocalPosition;
//Clean up temporary game objets.
Destroy(upperArmAxisCorrection);
Destroy(forearmAxisCorrection);
Destroy(handAxisCorrection);
//Transition.
transition = Mathf.Clamp01(transition);
upperArm.rotation = Quaternion.Slerp(upperArmRotation, upperArm.rotation, transition);
forearm.rotation = Quaternion.Slerp(forearmRotation, forearm.rotation, transition);
hand.rotation = Quaternion.Slerp(handRotation, hand.rotation, transition);
//Debug.
if (debug){
Debug.DrawLine(forearm.position, elbowTarget.position, Color.yellow);
Debug.DrawLine(upperArm.position, target.position, Color.red);
}
}
}
