IK.cs

using UnityEngine;
using System;
using System.Collections;
using VRTK;

public class IK : MonoBehaviour
{
    Animator avatar;                        // アバター

    public Transform lookAt = null;         // 見る対象
    public GameObject body = null;          // 身体

    public Transform leftHand = null;       // 左手
    public Transform rightHand = null;      // 右手
    public Transform leftFoot = null;       // 左足
    public Transform rightFoot = null;      // 右足

    public Transform leftElbow = null;      // 左ひじ
    public Transform rightElbow = null;     // 右ひじ
    public Transform leftKnee = null;       // 左ひざ
    public Transform rightKnee = null;      // 右ひざ

    void OnAnimatorIK(int layerIndex)
    {
        if (avatar == null)
        {
            // 初期化
            InitAvatar();
        }
        else
        {
            // 動かす
            MoveAvatar();
        }
    }

    void InitAvatar()
    {
        Debug.Log("InitAvatar");
        avatar = GetComponent<Animator>();          // アバター設定

        // 見る対象
        if (lookAt == null)
        {
            // 設定されていない場合、VRヘッドセットの方を向くようにする
            lookAt = GameObject.Find("VRTK").GetComponent<VRTK_SDKManager>().actualHeadset.transform;
        }

        // グリップの位置初期化
        // 身体
        body.transform.position = avatar.bodyPosition;
        body.transform.rotation = avatar.bodyRotation;

        // 手
        leftHand.position = avatar.GetBoneTransform(HumanBodyBones.LeftHand).position;
        //leftHand.rotation = avatar.GetBoneTransform(HumanBodyBones.LeftHand).rotation;
        rightHand.position = avatar.GetBoneTransform(HumanBodyBones.RightHand).position;
        //rightHand.rotation = avatar.GetBoneTransform(HumanBodyBones.RightHand).rotation;

        // ひじ
        leftElbow.position = avatar.GetBoneTransform(HumanBodyBones.LeftLowerArm).position;
        rightElbow.position = avatar.GetBoneTransform(HumanBodyBones.RightLowerArm).position;

        // 足
        leftFoot.position = avatar.GetBoneTransform(HumanBodyBones.LeftFoot).position;
        //leftFoot.rotation = avatar.GetBoneTransform(HumanBodyBones.LeftFoot).rotation;
        rightFoot.position = avatar.GetBoneTransform(HumanBodyBones.RightFoot).position;
        //rightFoot.rotation = avatar.GetBoneTransform(HumanBodyBones.RightFoot).rotation;

        // ひざ
        leftKnee.position = avatar.GetBoneTransform(HumanBodyBones.LeftLowerLeg).position;
        rightKnee.position = avatar.GetBoneTransform(HumanBodyBones.RightLowerLeg).position;
    }

    void MoveAvatar()
    {
        // 顔の向き
        avatar.SetLookAtPosition(lookAt.position);

        // 身体
        avatar.bodyPosition = body.transform.position;
        avatar.bodyRotation = body.transform.rotation;

        // 移動先を設定
        avatar.SetIKPosition(AvatarIKGoal.LeftHand, leftHand.position);
        avatar.SetIKRotation(AvatarIKGoal.LeftHand, leftHand.rotation);
        avatar.SetIKPosition(AvatarIKGoal.RightHand, rightHand.position);
        avatar.SetIKRotation(AvatarIKGoal.RightHand, rightHand.rotation);
        avatar.SetIKPosition(AvatarIKGoal.LeftFoot, leftFoot.position);
        avatar.SetIKRotation(AvatarIKGoal.LeftFoot, leftFoot.rotation);
        avatar.SetIKPosition(AvatarIKGoal.RightFoot, rightFoot.position);
        avatar.SetIKRotation(AvatarIKGoal.RightFoot, rightFoot.rotation);

        avatar.SetIKHintPosition(AvatarIKHint.LeftElbow, leftElbow.position);
        avatar.SetIKHintPosition(AvatarIKHint.RightElbow, rightElbow.position);
        avatar.SetIKHintPosition(AvatarIKHint.LeftKnee, leftKnee.position);
        avatar.SetIKHintPosition(AvatarIKHint.RightKnee, rightKnee.position);

        // 移動
        avatar.SetIKPositionWeight(AvatarIKGoal.LeftHand, 1.0f);
        avatar.SetIKRotationWeight(AvatarIKGoal.LeftHand, 1.0f);
        avatar.SetIKPositionWeight(AvatarIKGoal.RightHand, 1.0f);
        avatar.SetIKRotationWeight(AvatarIKGoal.RightHand, 1.0f);
        avatar.SetIKPositionWeight(AvatarIKGoal.LeftFoot, 1.0f);
        avatar.SetIKRotationWeight(AvatarIKGoal.LeftFoot, 1.0f);
        avatar.SetIKPositionWeight(AvatarIKGoal.RightFoot, 1.0f);
        avatar.SetIKRotationWeight(AvatarIKGoal.RightFoot, 1.0f);

        avatar.SetIKHintPositionWeight(AvatarIKHint.LeftElbow, 1.0f);
        avatar.SetIKHintPositionWeight(AvatarIKHint.RightElbow, 1.0f);
        avatar.SetIKHintPositionWeight(AvatarIKHint.LeftKnee, 1.0f);
        avatar.SetIKHintPositionWeight(AvatarIKHint.RightKnee, 1.0f);

        avatar.SetLookAtWeight(1.0f, 0.3f, 0.6f, 1.0f, 0.5f);
    }
}