ADD : 핸드 트래킹 테스트 스크립트 업데이트

Assets/External/BioIK.meta

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Assets/External/BioIK/BioIK.cs

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+using UnityEngine;
+using System.Collections.Generic;
+
+namespace BioIK {
+
+	//[ExecuteInEditMode]
+	[DisallowMultipleComponent]
+	public class BioIK : MonoBehaviour {
+
+		//public bool SolveInEditMode = false;
+
+		[SerializeField] private bool UseThreading = true;
+
+		[SerializeField] private int Generations = 2;
+		[SerializeField] private int PopulationSize = 50;
+		[SerializeField] private int Elites = 2;
+
+		public float Smoothing = 0.5f;
+		public float AnimationWeight = 0f;
+		public float AnimationBlend = 0f;
+		public MotionType MotionType = MotionType.Instantaneous;
+		public float MaximumVelocity = 3f;
+		public float MaximumAcceleration = 3f;
+
+		public List<BioSegment> Segments = new List<BioSegment>();
+
+		public BioSegment Root = null;
+		public Evolution Evolution = null;
+		public double[] Solution = null;
+
+		private bool Destroyed = false;
+
+		//Custom Inspector Helpers
+		public BioSegment SelectedSegment = null;
+		public Vector2 Scroll = Vector2.zero;
+
+		void Awake() {
+			Refresh();
+		}
+
+		void Start() {
+			
+		}
+
+		void OnDestroy() {
+			Destroyed = true;
+			DeInitialise();
+			Utility.Cleanup(transform);
+		}
+
+		void OnEnable() {
+			Initialise();	
+		}
+
+		void OnDisable() {
+			DeInitialise();
+		}
+
+		private void Initialise() {
+			if(Evolution == null) {
+				Evolution = new Evolution(new Model(this), PopulationSize, Elites, UseThreading);
+			}
+		}
+
+		private void DeInitialise() {
+			if(Evolution != null) {
+				Evolution.Kill();
+				Evolution = null;
+			}
+		}
+
+		void Update() {
+			PrecaptureAnimation(Root);
+		}
+
+		void LateUpdate() {
+			PostcaptureAnimation(Root);
+
+			UpdateData(Root);
+
+			for(int i=0; i<Solution.Length; i++) {
+				Solution[i] = Evolution.GetModel().MotionPtrs[i].Motion.GetTargetValue(true);
+			}
+			Solution = Evolution.Optimise(Generations, Solution);
+			
+			for(int i=0; i<Solution.Length; i++) {
+				BioJoint.Motion motion = Evolution.GetModel().MotionPtrs[i].Motion;
+				motion.SetTargetValue(Solution[i], true);
+				/*
+				if(motion.Joint.GetJointType() == JointType.Revolute) {
+					motion.SetTargetValue((float)Solution[i]);
+				} else if(motion.Joint.GetJointType() == JointType.Continuous) {
+					motion.SetTargetValue(motion.GetTargetValue() + Mathf.Deg2Rad*Mathf.DeltaAngle(Mathf.Rad2Deg*motion.GetTargetValue(), Mathf.Rad2Deg*(float)Solution[i]));
+				} else if(motion.Joint.GetJointType() == JointType.Prismatic) {
+					motion.SetTargetValue((float)Solution[i]);
+				} else if(motion.Joint.GetJointType() == JointType.Floating) {
+					motion.SetTargetValue((float)Solution[i]);
+				}
+				*/
+			}
+
+			ProcessMotion(Root);
+		}
+
+		public void SetThreading(bool enabled) {
+			if(UseThreading != enabled) {
+				UseThreading = enabled;
+				if(Application.isPlaying) {
+					Refresh();
+				}
+			}
+		}
+
+		public bool GetThreading() {
+			return UseThreading;
+		}
+
+		public void SetGenerations(int generations) {
+			Generations = generations;
+		}
+
+		public int GetGenerations() {
+			return Generations;
+		}
+
+		public void SetPopulationSize(int populationSize) {
+			if(PopulationSize != populationSize) {
+				PopulationSize = System.Math.Max(1, populationSize);
+				Elites = System.Math.Min(populationSize, Elites);
+				if(Application.isPlaying) {
+					Refresh();
+				}
+			}
+		}
+
+		public int GetPopulationSize() {
+			return PopulationSize;
+		}
+
+		public void SetElites(int elites) {
+			if(Elites != elites) {
+				Elites = System.Math.Max(1, elites);
+				if(Application.isPlaying) {
+					Refresh();
+				}
+			}
+		}
+
+		public int GetElites() {
+			return Elites;
+		}
+
+		public void ResetPosture(BioSegment segment) {
+			if(segment.Joint != null) {
+				segment.Joint.X.SetTargetValue(0f);
+				segment.Joint.Y.SetTargetValue(0f);
+				segment.Joint.Z.SetTargetValue(0f);
+				if(!Application.isPlaying) {
+					segment.Joint.PrecaptureAnimation();
+					segment.Joint.PostcaptureAnimation();
+					segment.Joint.UpdateData();
+					segment.Joint.ProcessMotion();
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				ResetPosture(segment.Childs[i]);
+			}
+		}
+
+		public BioSegment FindSegment(Transform t) {
+			for(int i=0; i<Segments.Count; i++) {
+				if(Segments[i].Transform == t) {
+					return Segments[i];
+				}
+			}
+			return null;
+		}
+
+		public BioSegment FindSegment(string name) {
+			for(int i=0; i<Segments.Count; i++) {
+				if(Segments[i].Transform.name == name) {
+					return Segments[i];
+				}
+			}
+			return null;
+		}
+
+		public List<BioSegment> GetChain(Transform start, Transform end) {
+			BioSegment a = FindSegment(start);
+			BioSegment b = FindSegment(end);
+			if(a == null || b == null) {
+				Debug.Log("Could not generate chain for given transforms");
+				return null;
+			}
+			return GetChain(a, b);
+		}
+
+		public List<BioSegment> GetChain(BioSegment start, BioSegment end) {
+			List<BioSegment> chain = new List<BioSegment>();
+			BioSegment segment = end;
+			while(true) {
+				chain.Add(segment);
+				if(segment.Transform == transform || segment.Parent == null) {
+					break;
+				} else {
+					segment = segment.Parent;
+				}
+			}
+			chain.Reverse();
+			return chain;
+		}
+
+		public void UpdateData(BioSegment segment) {
+			if(segment.Joint != null) {
+				if(segment.Joint.enabled) {
+					segment.Joint.UpdateData();
+				}
+			}
+			for(int i=0; i<segment.Objectives.Length; i++) {
+				if(segment.Objectives[i].enabled) {
+					segment.Objectives[i].UpdateData();
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				UpdateData(segment.Childs[i]);
+			}
+		}
+
+		public void Refresh(bool evolution = true) {
+			if(Destroyed) {
+				return;
+			}
+			
+			for(int i=0; i<Segments.Count; i++) {
+				if(Segments[i] == null) {
+					Segments.RemoveAt(i);
+					i--;
+				}
+			}
+			Refresh(transform);
+			Root = FindSegment(transform);
+
+			if(evolution && Application.isPlaying) {
+				DeInitialise();
+				Initialise();
+				Solution = new double[Evolution.GetModel().GetDoF()];
+			}
+		}
+
+		private void Refresh(Transform t) {
+			BioSegment segment = FindSegment(t);
+			if(segment == null) {
+				segment = Utility.AddBioSegment(this, t);
+				Segments.Add(segment);
+			}
+			segment.Character = this;
+			segment.RenewRelations();
+			
+			for(int i=0; i<t.childCount; i++) {
+				Refresh(t.GetChild(i));
+			}
+		}
+
+		private void PrecaptureAnimation(BioSegment segment) {
+			if(segment.Joint != null) {
+				if(segment.Joint.enabled) {
+					segment.Joint.PrecaptureAnimation();
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				PrecaptureAnimation(segment.Childs[i]);
+			}
+		}
+
+		private void PostcaptureAnimation(BioSegment segment) {
+			if(segment.Joint != null) {
+				if(segment.Joint.enabled) {
+					segment.Joint.PostcaptureAnimation();
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				PostcaptureAnimation(segment.Childs[i]);
+			}
+		}
+
+		private void ProcessMotion(BioSegment segment) {
+			if(segment.Joint != null) {
+				if(segment.Joint.enabled) {
+					segment.Joint.ProcessMotion();
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				ProcessMotion(segment.Childs[i]);
+			}
+		}
+
+	}
+
+}

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+  serializedVersion: 1
+  productId: 67819
+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Demo/Robot Kyle/Textures/Robot_Color.tga
+  uploadId: 199125

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Assets/External/BioIK/Demo/Scripts.meta

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+DefaultImporter:
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Assets/External/BioIK/Demo/Scripts/CameraController.cs

@@ -0,0 +1,83 @@
+using UnityEngine;
+using UnityEngine.EventSystems;
+
+public class CameraController : MonoBehaviour {
+
+	public float Velocity = 5f;
+	public float AngularVelocity = 5f;
+	public float ZoomVelocity = 10;
+
+	public float Sensitivity = 1f;
+
+	private Vector2 MousePosition;
+	private Vector2 LastMousePosition;
+	private Vector3 DeltaRotation;
+
+	private Quaternion ZeroRotation;
+
+	void Awake() {
+		ZeroRotation = transform.rotation;
+	}
+
+	void Start() {
+		MousePosition = GetNormalizedMousePosition();
+		LastMousePosition = GetNormalizedMousePosition();
+	}
+
+	void LateUpdate() {
+		MousePosition = GetNormalizedMousePosition();
+
+
+		if(EventSystem.current != null) {
+			if(!Input.GetKey(KeyCode.Mouse0)) {
+				EventSystem.current.SetSelectedGameObject(null);
+			}
+			if(EventSystem.current.currentSelectedGameObject == null) {
+				UpdateCamera();
+			}
+		} else {
+			UpdateCamera();
+		}
+
+		LastMousePosition = MousePosition;
+	}
+
+	private void UpdateCamera() {
+		//Translation
+		Vector3 direction = Vector3.zero;
+		if(Input.GetKey(KeyCode.A)) {
+			direction.x -= 1f;
+		}
+		if(Input.GetKey(KeyCode.D)) {
+			direction.x += 1f;
+		}
+		if(Input.GetKey(KeyCode.W)) {
+			direction.z += 1f;
+		}
+		if(Input.GetKey(KeyCode.S)) {
+			direction.z -= 1f;
+		}
+		transform.position += Velocity*Sensitivity*Time.deltaTime*(transform.rotation*direction);
+
+		//Zoom
+		if(Input.mouseScrollDelta.y != 0) {
+			transform.position += ZoomVelocity*Sensitivity*Time.deltaTime*Input.mouseScrollDelta.y*transform.forward;
+		}
+
+		//Rotation
+		MousePosition = GetNormalizedMousePosition();
+		if(Input.GetMouseButton(0)) {
+			DeltaRotation += 1000f*AngularVelocity*Sensitivity*Time.deltaTime*new Vector3(GetNormalizedDeltaMousePosition().x, GetNormalizedDeltaMousePosition().y, 0f);
+			transform.rotation = ZeroRotation * Quaternion.Euler(-DeltaRotation.y, DeltaRotation.x, 0f);
+		}
+	}
+
+	private Vector2 GetNormalizedMousePosition() {
+		Vector2 ViewPortPosition = Camera.main.ScreenToViewportPoint(Input.mousePosition);
+		return new Vector2(ViewPortPosition.x, ViewPortPosition.y);
+	}
+
+	private Vector2 GetNormalizedDeltaMousePosition() {
+		return MousePosition - LastMousePosition;
+	}
+}

Assets/External/BioIK/Demo/Scripts/CameraController.cs.meta

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+guid: ec5cd0ae42fe5415e8791ead88a7faa8
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+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Demo/Scripts/CameraController.cs
+  uploadId: 199125

Assets/External/BioIK/Demo/Scripts/Demo.cs

@@ -0,0 +1,84 @@
+using UnityEngine;
+using UnityEngine.UI;
+
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+public class Demo : MonoBehaviour {
+
+	public BioIK.BioIK[] Models;
+
+	public GameObject[] IgnoreRealistic;
+
+	public BioIK.MotionType MotionType = BioIK.MotionType.Instantaneous;
+
+	public Dropdown Dropdown;
+
+	private BioIK.BioIK ModelCharacter = null;
+	private GameObject ModelGO = null;
+
+	void Start() {
+		LoadModel(1);
+	}
+
+	public void LoadModel(int index) {
+		index -= 1;
+		if(Models.Length > index) {
+			if(ModelGO != null) {
+				ModelGO.SetActive(false);
+			}
+			ModelCharacter = Models[index];
+			ModelGO = ModelCharacter.transform.root.gameObject;
+			ModelGO.SetActive(true);
+			UpdateMotionType();
+		}
+	}
+
+	public bool Ignore(GameObject go) {
+		for(int i=0; i<IgnoreRealistic.Length; i++) {
+			if(IgnoreRealistic[i] == go) {
+				return true;
+			}
+		}
+		return false;
+	}
+
+	public void UpdateMotionType() {
+		MotionType = Dropdown.value == 0 ? BioIK.MotionType.Instantaneous : BioIK.MotionType.Realistic;
+		if(Ignore(ModelGO)) {
+			ModelCharacter.MotionType = BioIK.MotionType.Instantaneous;
+		} else {
+			ModelCharacter.MotionType = MotionType;
+		}
+	}
+}
+
+#if UNITY_EDITOR
+[CustomEditor(typeof(Demo))]
+public class DemoEditor : Editor {
+
+	public Demo Target;
+
+	void Awake() {
+		Target = (Demo)target;
+	}
+
+	public override void OnInspectorGUI() {
+		DrawDefaultInspector();
+
+		if(GUILayout.Button("Enable Threading")) {
+			SetThreading(true);
+		}
+		if(GUILayout.Button("Disable Threading")) {
+			SetThreading(false);
+		}
+	}
+
+	private void SetThreading(bool value) {
+		for(int i=0; i<Target.Models.Length; i++) {
+			Target.Models[i].SetThreading(value);
+		}
+	}
+}
+#endif

Assets/External/BioIK/Demo/Scripts/Demo.cs.meta

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+  uploadId: 199125

Assets/External/BioIK/Demo/Scripts/MouseDrag.cs

@@ -0,0 +1,62 @@
+using UnityEngine;
+using UnityEngine.EventSystems;
+
+public class MouseDrag : MonoBehaviour {
+
+	public static bool Translate = true;
+	public static bool Rotate = false;
+
+	public bool InformEventSystem = true;
+
+	public float Sensitivity = 10f;
+
+	private Vector2 LastMousePosition;
+
+	void Awake() {
+
+	}
+
+	void Start() {
+		LastMousePosition = GetNormalizedMousePosition();
+	}
+
+	void Update() {
+		if(Input.GetKeyDown(KeyCode.W)) {
+			Translate = true;
+			Rotate = false;
+		}
+		if(Input.GetKeyDown(KeyCode.E)) {
+			Translate = false;
+			Rotate = true;
+		}
+		LastMousePosition = GetNormalizedMousePosition();
+	}
+
+	void OnMouseDrag() {
+		if(InformEventSystem) {
+			if(EventSystem.current != null) {
+				EventSystem.current.SetSelectedGameObject(gameObject);
+			}
+		}
+
+		if(Translate) {
+			float distance_to_screen = Camera.main.WorldToScreenPoint(gameObject.transform.position).z;
+			transform.position = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, distance_to_screen ));
+		}
+
+		if(Rotate) {
+			Vector2 deltaMousePosition = GetNormalizedDeltaMousePosition();
+			transform.Rotate(Camera.main.transform.right, 1000f*Sensitivity*Time.deltaTime*deltaMousePosition.y, Space.World);
+			transform.Rotate(Camera.main.transform.up, -1000f*Sensitivity*Time.deltaTime*deltaMousePosition.x, Space.World);
+		}
+	}
+
+	private Vector2 GetNormalizedMousePosition() {
+		Vector2 ViewPortPosition = Camera.main.ScreenToViewportPoint(Input.mousePosition);
+		return new Vector2(ViewPortPosition.x, ViewPortPosition.y);
+	}
+
+	private Vector2 GetNormalizedDeltaMousePosition() {
+		return GetNormalizedMousePosition() - LastMousePosition;
+	}
+}

Assets/External/BioIK/Demo/Scripts/MouseDrag.cs.meta

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+  assetPath: Assets/BioIK/Demo/Scripts/MouseDrag.cs
+  uploadId: 199125

Assets/External/BioIK/Demo/Scripts/Rotate.cs

@@ -0,0 +1,13 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Rotate : MonoBehaviour {
+
+	public float Speed = 100f;
+
+	void Update () {
+		transform.rotation *= Quaternion.Euler(0f, -Speed*Time.deltaTime, 0f);
+	}
+
+}

Assets/External/BioIK/Demo/Scripts/Rotate.cs.meta

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Assets/External/BioIK/Demo/Textures/Steel.jpg.meta

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Assets/External/BioIK/Editor.meta

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Assets/External/BioIK/Editor/BioIKEditor.cs

@@ -0,0 +1,840 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace BioIK {
+	[CustomEditor(typeof(BioIK))]
+	public class BioIKEditor : Editor {
+
+		public BioIK Target;
+		public Transform TargetTransform;
+
+		private Color Color1 = Color.white;
+		//private Color Color2 = Color.black;
+		private Color Color3 = new Color(0.6f, 0.6f, 0.6f, 1f);
+		private Color Color4 = new Color(0.3f, 0.8f, 0.8f, 1f);
+		private Color Color5 = new Color(1f, 0.7f, 0.3f, 1f);
+		private Color Color6 = new Color(0.9f, 0.3f, 0.9f, 1f);
+		private Color Color7 = new Color(1.0f, 0.3f, 0.3f, 1f);
+		private Color Color8 = new Color(0.3f, 0.6f, 0.6f, 1f);
+		private Color Color9 = new Color(0.4f, 0.9f, 0.4f, 1f);	
+		//private Color Color10 = new Color(1f, 0.5f, 1f, 1f);
+		private Color Color11 = new Color(0.3f, 0.3f, 0.3f, 1f);
+		//private Color Color12 = new Color(0.9f, 0.6f, 0.9f, 1f);
+		private Color Color13 = new Color(0.5f, 0.5f, 0.5f, 1f);
+		private Color Color14 = new Color(0.75f, 0.75f, 0.75f, 1f);
+
+		private bool ChosingObjectiveType = false;
+
+		private bool IsPlaying = false;
+		private bool IsEnabled = false;
+
+		private int DoF;
+
+		void Awake() {
+			EditorApplication.playmodeStateChanged += PlaymodeStateChanged;
+			Target = (BioIK)target;
+			TargetTransform = Target.transform;
+			Target.Refresh(false);
+			DoF = 0;
+			//MakeVisible(TargetTransform);
+			//MakeInvisible(TargetTransform);
+		}
+
+		void OnEnable() {
+			IsEnabled = true;
+		}
+
+		void OnDisable() {
+			IsEnabled = false;
+		}
+
+		private void MakeVisible(Transform t) {
+			if(t.GetComponent<BioSegment>()) {
+				t.GetComponent<BioSegment>().hideFlags = HideFlags.None;
+			}
+			foreach(BioObjective o in t.GetComponents<BioObjective>()) {
+				o.hideFlags = HideFlags.None;
+			}
+			if(t.GetComponent<BioJoint>()) {
+				t.GetComponent<BioJoint>().hideFlags = HideFlags.None;
+			}
+			for(int i=0; i<t.childCount; i++) {
+				MakeVisible(t.GetChild(i));
+			}
+		}
+
+		private void MakeInvisible(Transform t) {
+			if(t.GetComponent<BioSegment>()) {
+				t.GetComponent<BioSegment>().hideFlags = HideFlags.HideInInspector;
+			}
+			foreach(BioObjective o in t.GetComponents<BioObjective>()) {
+				o.hideFlags = HideFlags.HideInInspector;
+			}
+			if(t.GetComponent<BioJoint>()) {
+				t.GetComponent<BioJoint>().hideFlags = HideFlags.HideInInspector;
+			}
+			for(int i=0; i<t.childCount; i++) {
+				MakeInvisible(t.GetChild(i));
+			}
+		}
+
+		void OnDestroy() {
+			if(
+				Target == null 
+				&& 
+				TargetTransform != null 
+				&& 
+				!IsPlaying 
+				&& 
+				!IsEnabled
+				&&
+				!EditorApplication.isPlayingOrWillChangePlaymode
+				) {
+				Utility.Cleanup(TargetTransform);
+			}
+		}
+
+		private void PlaymodeStateChanged() {
+			IsPlaying = Application.isPlaying;
+		}
+
+		public override void OnInspectorGUI() {
+			Undo.RecordObject(Target, Target.name);
+
+			SetGUIColor(Color3);
+			using(new EditorGUILayout.VerticalScope ("Button")) {
+				SetGUIColor(Color5);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				EditorGUILayout.HelpBox("                    Settings                    ", MessageType.None);
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+
+				//SetGUIColor(Color1);
+				//Target.SolveInEditMode = EditorGUILayout.Toggle("Solve In Edit Mode", Target.SolveInEditMode);
+				SetGUIColor(Color1);
+				Target.SetThreading(EditorGUILayout.Toggle("Use Threading", Target.GetThreading()));
+				SetGUIColor(Color1);
+				Target.SetGenerations(EditorGUILayout.IntField("Generations", Target.GetGenerations()));
+				SetGUIColor(Color1);
+				Target.SetPopulationSize(EditorGUILayout.IntField("Individuals", Target.GetPopulationSize()));
+				SetGUIColor(Color1);
+				Target.SetElites(EditorGUILayout.IntField("Elites", Target.GetElites()));
+				SetGUIColor(Color1);
+				Target.Smoothing = EditorGUILayout.Slider("Smoothing", Target.Smoothing, 0f, 1f);
+				SetGUIColor(Color1);
+				Target.AnimationWeight = EditorGUILayout.Slider("Animation Weight", Target.AnimationWeight, 0f, 1f);
+				SetGUIColor(Color1);
+				Target.AnimationBlend = EditorGUILayout.Slider("Animation Blend", Target.AnimationBlend, 0f, 1f);
+				SetGUIColor(Color1);
+				Target.MotionType = (MotionType)EditorGUILayout.EnumPopup("Motion Type", Target.MotionType);
+				if(Target.MotionType == MotionType.Realistic) {
+					Target.MaximumVelocity = EditorGUILayout.FloatField("Maximum Velocity", Target.MaximumVelocity);
+					Target.MaximumAcceleration = EditorGUILayout.FloatField("Maximum Acceleration", Target.MaximumAcceleration);
+				}
+				SetGUIColor(Color1);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				if(GUILayout.Button("          Reset Posture          ")) {
+					Target.ResetPosture(Target.Root);
+				}
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+			}
+
+			SetGUIColor(Color3);
+			using(new EditorGUILayout.VerticalScope ("Button")) {
+				SetGUIColor(Color5);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				EditorGUILayout.HelpBox("                   Character                   ", MessageType.None);
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+
+				//SetGUIColor(Color5);
+				//EditorGUILayout.HelpBox("Degree of Freedom: " + new Model(Target).GetDoF() + " / " + DoF, MessageType.None);
+
+				int maxIndent = 0;
+				ComputeMaxIndentLevel(Target.transform, 0, ref maxIndent);
+
+				Target.Scroll = EditorGUILayout.BeginScrollView(Target.Scroll, GUILayout.Height(500f));
+				InspectBody(Target.FindSegment(Target.transform), 0, maxIndent);
+				EditorGUILayout.EndScrollView();
+			}
+
+			SetGUIColor(Color1);
+			if(Target != null) {
+				EditorUtility.SetDirty(Target);
+			}
+		}
+
+		private void InspectBody(BioSegment segment, int indent, int maxIndent) {
+			SetGUIColor(Color11);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+				EditorGUILayout.BeginHorizontal();
+				
+				if(Target.SelectedSegment != segment) {
+					if(indent > 0) {
+						SetGUIColor(Color13);
+						using(new EditorGUILayout.VerticalScope ("Box")) {
+							int width = 10*(indent-1);
+							EditorGUILayout.LabelField("", GUILayout.Width(width));
+						}
+					}
+				}
+
+				GUI.skin.button.alignment = TextAnchor.MiddleLeft;
+				if(segment == Target.SelectedSegment) {
+					SetGUIColor(Color5);
+				} else {
+					SetGUIColor(Color.Lerp(Color4, Color8, (float)indent / (float)maxIndent));
+				}
+				if(GUILayout.Button(segment.Transform.name, GUILayout.Height(25f), GUILayout.ExpandWidth(true))) {
+					if(Target.SelectedSegment == segment) {
+						Target.SelectedSegment = null;
+						ChosingObjectiveType = false;
+					} else {
+						Target.SelectedSegment = segment;
+					}
+				}
+
+				EditorGUILayout.EndHorizontal();
+
+				if(Target.SelectedSegment == segment) {
+					InspectSegment(segment);
+				} else {
+					GUILayout.BeginHorizontal();
+					GUILayout.FlexibleSpace();
+					if(segment.Joint != null) {
+						SetGUIColor(Color6);
+						GUILayout.Box(" Joint ");
+					}
+					foreach(BioObjective objective in segment.Objectives) {
+						SetGUIColor(Color9);
+						GUILayout.Box(" " + objective.GetObjectiveType().ToString() + " ");
+					}
+					GUILayout.FlexibleSpace();
+					GUILayout.EndHorizontal();
+				}
+			}
+			
+			for(int i=0; i<segment.Childs.Length; i++) {
+				InspectBody(segment.Childs[i], indent+1, maxIndent);
+			}
+		}
+
+		private void InspectSegment(BioSegment segment) {
+			Undo.RecordObject(segment, segment.name);
+
+			SetGUIColor(Color13);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+				
+				SetGUIColor(Color4);
+				Vector3 A = segment.Parent == null ? segment.GetAnchoredPosition() : segment.Parent.GetAnchoredPosition();
+				Vector3 B = segment.GetAnchoredPosition();
+				EditorGUILayout.HelpBox("Link Length: " + Vector3.Distance(A,B), MessageType.None);
+
+				SetGUIColor(Color6);
+				using(new EditorGUILayout.VerticalScope ("Box")) {
+					if(segment.Joint == null) {
+						GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+						SetGUIColor(Color1);
+						if(GUILayout.Button("Add Joint")) {
+							segment.AddJoint();
+						}
+					} else {
+						InspectJoint(segment.Joint);
+					}
+				}
+
+			}
+
+			for(int i=0; i<segment.Objectives.Length; i++) {
+				SetGUIColor(Color13);
+				using(new EditorGUILayout.VerticalScope ("Box")) {
+
+					SetGUIColor(Color9);
+					using(new EditorGUILayout.VerticalScope ("Box")) {
+						InspectObjective(segment.Objectives[i]);
+					}
+
+				}
+			}
+
+			SetGUIColor(Color13);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+
+				SetGUIColor(Color9);
+				using(new EditorGUILayout.VerticalScope ("Box")) {
+
+					GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+					SetGUIColor(ChosingObjectiveType ? Color14 : Color1);
+					if(GUILayout.Button("Add Objective")) {
+						ChosingObjectiveType = !ChosingObjectiveType;
+					}
+					if(ChosingObjectiveType) {
+						SetGUIColor(Color8);
+						using(new EditorGUILayout.VerticalScope ("Box")) {
+							int count = System.Enum.GetValues(typeof(ObjectiveType)).Length;
+							string[] names = System.Enum.GetNames(typeof(ObjectiveType));
+							for(int i=0; i<count; i++) {
+								SetGUIColor(Color1);
+								if(GUILayout.Button(names[i])) {
+									ChosingObjectiveType = false;
+									segment.AddObjective((ObjectiveType)i);
+								}
+							}
+						}
+					}
+				}
+
+			}
+			
+			if(segment != null) {
+				EditorUtility.SetDirty(segment);
+			}
+		}
+
+		private void InspectJoint(BioJoint joint) {
+			Undo.RecordObject(joint, joint.name);
+
+			SetGUIColor(Color13);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+				SetGUIColor(Color5);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				EditorGUILayout.HelpBox("                    Joint                    ", MessageType.None);
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+
+				SetGUIColor(Color1);
+				joint.enabled = EditorGUILayout.Toggle("Enabled", joint.enabled);
+
+				SetGUIColor(Color4);
+				EditorGUILayout.HelpBox("Geometry", MessageType.None);
+				SetGUIColor(Color1);
+				joint.JointType = (JointType)EditorGUILayout.EnumPopup("Joint Type", joint.JointType);
+				SetGUIColor(Color1);
+				joint.SetAnchor(EditorGUILayout.Vector3Field("Anchor", joint.GetAnchor()));
+				SetGUIColor(Color1);
+				joint.SetOrientation(EditorGUILayout.Vector3Field("Orientation", joint.GetOrientation()));
+				SetGUIColor(Color4);
+				EditorGUILayout.HelpBox("Default Frame", MessageType.None);
+				SetGUIColor(Color1);
+				Vector3 defaultPosition = EditorGUILayout.Vector3Field("Position", joint.GetDefaultPosition());
+				SetGUIColor(Color1);
+				Quaternion defaultRotation = Quaternion.Euler(EditorGUILayout.Vector3Field("Rotation", joint.GetDefaultRotation().eulerAngles));
+				joint.SetDefaultFrame(defaultPosition, defaultRotation);
+
+				InspectMotion(joint.X, "     X Motion     ");
+				InspectMotion(joint.Y, "     Y Motion     ");
+				InspectMotion(joint.Z, "     Z Motion     ");
+
+				GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+				SetGUIColor(Color7);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				if(GUILayout.Button("Remove", GUILayout.Width(100f))) {
+					joint.Remove();
+				}
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+			}
+
+			if(joint != null) {
+				joint.PrecaptureAnimation();
+				joint.PostcaptureAnimation();
+				joint.UpdateData();
+				joint.ProcessMotion();
+				EditorUtility.SetDirty(joint);
+			}
+		}
+
+		private void InspectMotion(BioJoint.Motion motion, string name) {
+			SetGUIColor(Color8);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+				SetGUIColor(Color5);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				EditorGUILayout.HelpBox(name, MessageType.None);
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+
+				if(motion.IsEnabled()) {
+					SetGUIColor(Color1);
+					motion.Constrained = EditorGUILayout.Toggle("Constrained", motion.Constrained);
+					if(motion.Constrained) {
+						SetGUIColor(Color1);
+						motion.SetLowerLimit(EditorGUILayout.DoubleField("Lower Limit", motion.GetLowerLimit()));
+						SetGUIColor(Color1);
+						motion.SetUpperLimit(EditorGUILayout.DoubleField("Upper Limit", motion.GetUpperLimit()));
+						SetGUIColor(Color1);
+						motion.SetTargetValue(EditorGUILayout.Slider("Target Value", (float)motion.GetTargetValue(), (float)motion.GetLowerLimit(), (float)motion.GetUpperLimit()));
+					} else {
+						SetGUIColor(Color1);
+						motion.SetTargetValue(EditorGUILayout.DoubleField("Target Value", motion.GetTargetValue()));
+					}
+					
+					GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+					SetGUIColor(Color1);
+					GUILayout.BeginHorizontal();
+					GUILayout.FlexibleSpace();
+					if(GUILayout.Button("Disable", GUILayout.Width(250f), GUILayout.Height(20f))) {
+						motion.SetEnabled(false);
+					}
+					GUILayout.FlexibleSpace();
+					GUILayout.EndHorizontal();
+				} else {
+					GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+					SetGUIColor(Color1);
+					GUILayout.BeginHorizontal();
+					GUILayout.FlexibleSpace();
+					if(GUILayout.Button("Enable", GUILayout.Width(250f), GUILayout.Height(20f))) {
+						motion.SetEnabled(true);
+					}
+					GUILayout.FlexibleSpace();
+					GUILayout.EndHorizontal();
+				}
+			}
+		}
+
+		private void InspectObjective(BioObjective objective) {
+			Undo.RecordObject(objective, objective.name);
+
+			SetGUIColor(Color13);
+			using(new EditorGUILayout.VerticalScope ("Box")) {
+				SetGUIColor(Color5);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				EditorGUILayout.HelpBox("                    Objective (" + objective.GetObjectiveType().ToString() + ")                    ", MessageType.None);
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+				
+				SetGUIColor(Color1);
+				objective.enabled = EditorGUILayout.Toggle("Enabled", objective.enabled);
+
+				SetGUIColor(Color1);
+				objective.Weight = EditorGUILayout.DoubleField("Weight", objective.Weight);
+
+				switch(objective.GetObjectiveType()) {
+					case ObjectiveType.Position:
+					InspectPosition((Position)objective);
+					break;
+
+					case ObjectiveType.Orientation:
+					InspectOrientation((Orientation)objective);
+					break;
+
+					case ObjectiveType.LookAt:
+					InspectLookAt((LookAt)objective);
+					break;
+
+					case ObjectiveType.Distance:
+					InspectDistance((Distance)objective);
+					break;
+
+					case ObjectiveType.JointValue:
+					InspectJointValue((JointValue)objective);
+					break;
+
+					case ObjectiveType.Displacement:
+					InspectDisplacement((Displacement)objective);
+					break;
+
+					case ObjectiveType.Projection:
+					InspectProjection((Projection)objective);
+					break;
+				}
+
+				GUI.skin.button.alignment = TextAnchor.MiddleCenter;
+				SetGUIColor(Color7);
+				GUILayout.BeginHorizontal();
+				GUILayout.FlexibleSpace();
+				if(GUILayout.Button("Remove", GUILayout.Width(100f))) {
+					objective.Remove();
+				}
+				GUILayout.FlexibleSpace();
+				GUILayout.EndHorizontal();
+			}
+
+			if(objective != null) {
+				EditorUtility.SetDirty(objective);
+			}
+		}
+
+		private void InspectPosition(Position objective) {
+			SetGUIColor(Color1);
+			objective.SetTargetTransform(EditorGUILayout.ObjectField("Target Transform", objective.GetTargetTransform(), typeof(Transform), true) as Transform);
+			SetGUIColor(Color1);
+			objective.SetTargetPosition(EditorGUILayout.Vector3Field("Target Position", objective.GetTargetPosition()));
+			SetGUIColor(Color1);
+			objective.SetMaximumError(EditorGUILayout.DoubleField("Maximum Error", objective.GetMaximumError()));
+		}
+
+		private void InspectOrientation(Orientation objective) {
+			SetGUIColor(Color1);
+			objective.SetTargetTransform(EditorGUILayout.ObjectField("Target Transform", objective.GetTargetTransform(), typeof(Transform), true) as Transform);
+			SetGUIColor(Color1);
+			objective.SetTargetRotation(EditorGUILayout.Vector3Field("Target Rotation", objective.GetTargetRotattion()));
+			SetGUIColor(Color1);
+			objective.SetMaximumError(EditorGUILayout.DoubleField("Maximum Error", objective.GetMaximumError()));
+		}
+
+		private void InspectLookAt(LookAt objective) {
+			SetGUIColor(Color1);
+			objective.SetTargetTransform(EditorGUILayout.ObjectField("Target Transform", objective.GetTargetTransform(), typeof(Transform), true) as Transform);
+			SetGUIColor(Color1);
+			objective.SetTargetPosition(EditorGUILayout.Vector3Field("Target Position", objective.GetTargetPosition()));
+			SetGUIColor(Color1);
+			objective.SetViewingDirection(EditorGUILayout.Vector3Field("Viewing Direction", objective.GetViewingDirection()));
+			SetGUIColor(Color1);
+			objective.SetMaximumError(EditorGUILayout.DoubleField("Maximum Error", objective.GetMaximumError()));
+		}
+
+		private void InspectDistance(Distance objective) {
+			SetGUIColor(Color1);
+			objective.SetRadius(EditorGUILayout.DoubleField("Radius", objective.GetRadius()));
+
+			SetGUIColor(Color1);
+			GUILayout.BeginHorizontal();
+			GUILayout.FlexibleSpace();
+			EditorGUILayout.HelpBox("Points", MessageType.None);
+			GUILayout.FlexibleSpace();
+			GUILayout.EndHorizontal();
+
+			DistancePoint[] points = objective.GetPoints();
+			for(int i=0; i<points.Length; i++) {
+				SetGUIColor(Color8);
+				using(new EditorGUILayout.VerticalScope ("Box")) {
+					SetGUIColor(Color1);
+					points[i].SetTargetTransform(EditorGUILayout.ObjectField("Target", points[i].Target, typeof(Transform), true) as Transform);
+					SetGUIColor(Color1);
+					points[i].SetRadius(EditorGUILayout.DoubleField("Radius", points[i].Radius));
+				}
+			}
+			SetGUIColor(Color8);
+			if(GUILayout.Button("+")) {
+				objective.AddPoint();
+			}
+			SetGUIColor(Color8);
+			if(GUILayout.Button("-")) {
+				objective.RemovePoint();
+			}
+		}
+
+		private void InspectJointValue(JointValue objective) {
+			SetGUIColor(Color1);
+			objective.SetTargetValue(EditorGUILayout.DoubleField("Target Value", objective.GetTargetValue()));
+			SetGUIColor(Color1);
+			objective.SetXMotion(EditorGUILayout.Toggle("X Motion", objective.IsXMotion()));
+			SetGUIColor(Color1);
+			objective.SetYMotion(EditorGUILayout.Toggle("Y Motion", objective.IsYMotion()));
+			SetGUIColor(Color1);
+			objective.SetZMotion(EditorGUILayout.Toggle("Z Motion", objective.IsZMotion()));
+		}
+
+		private void InspectDisplacement(Displacement objective) {
+
+		}
+
+		private void InspectProjection(Projection objective) {
+			SetGUIColor(Color1);
+			objective.SetTargetTransform(EditorGUILayout.ObjectField("Target Transform", objective.GetTargetTransform(), typeof(Transform), true) as Transform);
+			SetGUIColor(Color1);
+			objective.SetTargetPosition(EditorGUILayout.Vector3Field("Target Position", objective.GetTargetPosition()));
+			SetGUIColor(Color1);
+			objective.SetTargetRotation(EditorGUILayout.Vector3Field("Target Rotation", objective.GetTargetRotation()));
+			SetGUIColor(Color1);
+			objective.SetNormal(EditorGUILayout.Vector3Field("Projection Normal", objective.GetNormal()));
+			SetGUIColor(Color1);
+			objective.SetLength(EditorGUILayout.FloatField("Projection Length", objective.GetLength()));
+			SetGUIColor(Color1);
+			objective.SetSensitivity(EditorGUILayout.Slider("Projection Sensitivitiy", objective.GetSensitivity(), 0f, 1f));
+			SetGUIColor(Color1);
+			objective.SetMaximumError(EditorGUILayout.DoubleField("Maximum Error", objective.GetMaximumError()));
+		}
+
+		public void OnSceneGUI() {
+			DoF = 0;
+			DrawSkeleton(Target.FindSegment(Target.transform));
+			DrawSetup(Target.FindSegment(Target.transform), false);
+			if(Target.SelectedSegment != null) {
+				DrawSegment(Target.SelectedSegment, true);
+			}
+		}
+
+		private bool StopDraw(BioSegment segment) {
+			if(segment.Parent == null) {
+				return false;
+			}
+			return false;
+			//return segment.Parent.name == "Kopf" && segment.name != "Head" && segment.name != "Ohr_R" && segment.name != "Ohr_L" || segment.name == "Ohr_L_end" || segment.name == "Ohr_R_end";
+		}
+
+		private void DrawSkeleton(BioSegment segment) {
+			if(!StopDraw(segment)) {
+			if(segment.Parent != null) {
+				DrawLine(segment.Parent.GetAnchoredPosition(), segment.GetAnchoredPosition(), 5f, Color.cyan);
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				DrawSkeleton(segment.Childs[i]);
+			}
+			}
+		}
+
+		private void DrawSetup(BioSegment segment, bool final) {
+			if(!StopDraw(segment)) {
+			DrawSegment(segment, final);
+			for(int i=0; i<segment.Childs.Length; i++) {
+				DrawSetup(segment.Childs[i], final);
+			}
+			}
+		}
+
+		private void DrawSegment(BioSegment segment, bool final) {
+			Vector3 P = segment.GetAnchoredPosition();
+			if(Target.SelectedSegment == segment && final) {
+				DrawSphere(P, 0.25f, new Color(0f, 0f, 0f, 0.4f));
+				DrawSphere(P, 0.02f, Color5);
+			} else if(Target.SelectedSegment != segment) {
+				DrawSphere(P, 0.02f, Color.cyan);
+			}
+			if(segment.Joint != null) {
+				DrawJoint(segment.Joint, final);
+			}
+			for(int i=0; i<segment.Objectives.Length; i++) {
+				DrawObjective(segment.Objectives[i], final);
+			}
+		}
+
+		private void DrawJoint(BioJoint joint, bool final) {
+			if(!final) {
+				DoF += joint.GetDoF();
+			}
+			//DrawDottedLine(joint.Segment.Transform.position, joint.GetAnchorInWorldSpace(), 5f, Color.magenta);
+			DrawCube(joint.GetAnchorInWorldSpace(), joint.Segment.Transform.rotation * Quaternion.Euler(joint.GetOrientation()), 0.025f, Color.magenta);
+			DrawMotion(joint.X, Color.red, final);
+			DrawMotion(joint.Y, Color.green, final);
+			DrawMotion(joint.Z, Color.blue, final);
+		}
+
+		private void DrawMotion(BioJoint.Motion motion, Color color, bool final) {
+			if(Target.SelectedSegment == motion.Joint.Segment && final) {
+				DrawArrow(motion.Joint.GetAnchorInWorldSpace(), motion.Joint.Segment.Transform.rotation * Quaternion.LookRotation(motion.Axis), 0.125f, motion.IsEnabled() ? color : Color.grey);
+				
+				if(!motion.IsEnabled() || !motion.Constrained) {
+					return;
+				}
+
+				if(motion.Joint.JointType == JointType.Rotational) {
+					if(motion == motion.Joint.X) {
+						DrawSolidArc(
+							motion.Joint.GetAnchorInWorldSpace(), 
+							motion.Joint.Segment.Transform.rotation * motion.Axis, 
+							Quaternion.AngleAxis((float)motion.GetLowerLimit(), motion.Joint.Segment.Transform.rotation * motion.Axis) * motion.Joint.Segment.Transform.rotation * motion.Joint.Y.Axis, 
+							(float)motion.GetUpperLimit() - (float)motion.GetLowerLimit(), 
+							0.125f, 
+							new Color(1f, 0f, 0f, 0.25f)
+							);
+					}
+					if(motion == motion.Joint.Y) {
+						DrawSolidArc(
+							motion.Joint.GetAnchorInWorldSpace(), 
+							motion.Joint.Segment.Transform.rotation * motion.Axis, 
+							Quaternion.AngleAxis((float)motion.GetLowerLimit(), motion.Joint.Segment.Transform.rotation * motion.Axis) * motion.Joint.Segment.Transform.rotation * motion.Joint.Z.Axis, 
+							(float)motion.GetUpperLimit() - (float)motion.GetLowerLimit(), 
+							0.125f, 
+							new Color(0f, 1f, 0f, 0.25f)
+							);
+					}
+					if(motion == motion.Joint.Z) {
+						DrawSolidArc(
+							motion.Joint.GetAnchorInWorldSpace(), 
+							motion.Joint.Segment.Transform.rotation * motion.Axis, 
+							Quaternion.AngleAxis((float)motion.GetLowerLimit(), motion.Joint.Segment.Transform.rotation * motion.Axis) * motion.Joint.Segment.Transform.rotation * motion.Joint.X.Axis, 
+							(float)motion.GetUpperLimit() - (float)motion.GetLowerLimit(), 
+							0.125f, 
+							new Color(0f, 0f, 1f, 0.25f)
+							);
+					}
+				}
+
+				if(motion.Joint.JointType == JointType.Translational) {
+					Vector3 A = motion.Joint.GetAnchorInWorldSpace() + (float)motion.GetLowerLimit() * (motion.Joint.Segment.Transform.rotation * motion.Axis);
+					Vector3 B = motion.Joint.GetAnchorInWorldSpace() + (float)motion.GetUpperLimit() * (motion.Joint.Segment.Transform.rotation * motion.Axis);
+					Color c = Color.white;
+					if(motion == motion.Joint.X) {
+						c = Color.red;
+					}
+					if(motion == motion.Joint.Y) {
+						c = Color.green;
+					}
+					if(motion == motion.Joint.Z) {
+						c = Color.blue;
+					}
+					DrawLine(A,	B, 3f, c);
+					DrawCube(A, motion.Joint.Segment.Transform.rotation, 0.0125f, new Color(c.r, c.g, c.b, 0.5f));
+					DrawCube(B, motion.Joint.Segment.Transform.rotation, 0.0125f, new Color(c.r, c.g, c.b, 0.5f));
+				}
+
+			} else if(Target.SelectedSegment != motion.Joint.Segment) {
+				DrawArrow(motion.Joint.GetAnchorInWorldSpace(), motion.Joint.Segment.Transform.rotation * Quaternion.LookRotation(motion.Axis), 0.05f, motion.IsEnabled() ? color : Color.clear);
+			}
+		}
+
+		private void DrawObjective(BioObjective objective, bool selected) {
+			if(!selected) {
+				return;
+			}
+
+			switch(objective.GetObjectiveType()) {
+				case ObjectiveType.Position:
+				DrawPosition((Position)objective);
+				break;
+
+				case ObjectiveType.Orientation:
+				DrawOrientation((Orientation)objective);
+				break;
+
+				case ObjectiveType.LookAt:
+				DrawLookAt((LookAt)objective);
+				break;
+
+				case ObjectiveType.Distance:
+				DrawDistance((Distance)objective);
+				break;
+
+				case ObjectiveType.JointValue:
+				DrawJointValue((JointValue)objective);
+				break;
+
+				case ObjectiveType.Displacement:
+				DrawDisplacement((Displacement)objective);
+				break;
+
+				case ObjectiveType.Projection:
+				DrawProjection((Projection)objective);
+				break;
+			}
+		}
+
+		private void DrawPosition(Position objective) {
+			DrawSphere(objective.GetTargetPosition(), 0.1f, new Color(1f, 0f, 0f, 0.75f));
+			Handles.Label(objective.GetTargetPosition(), "Target");
+		}
+
+		private void DrawOrientation(Orientation objective) {
+			Quaternion rotation = Quaternion.Euler(objective.GetTargetRotattion());
+			Vector3 right = rotation * Vector3.right;
+			Vector3 up = rotation * Vector3.up;
+			Vector3 forward = rotation * Vector3.forward;
+			float length = 0.1f;
+			DrawLine(objective.Segment.Transform.position - length * right, objective.Segment.Transform.position + length * right, 5f, new Color(1f, 0f, 0f, 0.75f));
+			DrawLine(objective.Segment.Transform.position - length * up, objective.Segment.Transform.position + length * up, 5f, new Color(0f, 1f, 0f, 0.75f));
+			DrawLine(objective.Segment.Transform.position - length * forward, objective.Segment.Transform.position + length * forward, 5f, new Color(0f, 0f, 1f, 0.75f));
+			Handles.Label(objective.Segment.Transform.position, "Target");
+		}
+
+		private void DrawLookAt(LookAt objective) {
+			if(objective.GetViewingDirection().magnitude != 0f) {
+				DrawArrow(objective.transform.position, objective.transform.rotation*Quaternion.LookRotation((objective.GetViewingDirection())), 0.125f, Color5);
+			}
+		}
+
+		private void DrawDistance(Distance objective) {
+			DrawSphere(objective.transform.position, (float)objective.GetRadius(), new Color(0f, 1f, 0f, 0.5f));
+			DistancePoint[] points = objective.GetPoints();
+			for(int i=0; i<points.Length; i++) {
+				DistancePoint point = points[i];
+				if(point != null) {
+					DrawSphere(point.GetTargetPoint(), (float)point.GetRadius(), new Color(1f, 0f, 0f, 0.5f));
+				}
+			}
+		}
+
+		private void DrawJointValue(JointValue objective) {
+
+		}
+
+		private void DrawDisplacement(Displacement objective) {
+
+		}
+
+		private void DrawProjection(Projection objective) {
+			Vector3 normal = objective.Segment.Transform.rotation * objective.GetNormal();
+			Vector3 start = objective.Segment.Transform.position - objective.GetLength() * normal;
+			Vector3 end = start + objective.GetLength() * normal;
+
+			DrawSphere(start, 0.025f, Color5);
+			DrawArrow(start, Quaternion.FromToRotation(Vector3.forward, end-start), objective.GetLength(), Color5);
+
+			DrawSphere(objective.GetTargetPosition(), 0.025f, Color.red);
+
+			/*
+			Quaternion rotation = Quaternion.Euler(objective.GetTargetRotation());
+			Vector3 right = rotation * Vector3.right;
+			Vector3 up = rotation * Vector3.up;
+			Vector3 forward = rotation * Vector3.forward;
+
+			//float length = 0.05f;
+			
+			//DrawLine(objective.Segment.Transform.position - length * right, objective.Segment.Transform.position + length * right, 5f, Color.red);
+			//DrawLine(objective.Segment.Transform.position - length * up, objective.Segment.Transform.position + length * up, 5f, Color.green);
+			//DrawLine(objective.Segment.Transform.position - length * forward, objective.Segment.Transform.position + length * forward, 5f, Color.blue);
+			
+			//for(int i=0; i<Corrections.Length; i++) {
+			//	normal = transform.rotation * Corrections[i].Direction;
+			//	start = transform.position + transform.rotation * Corrections[i].Offset;
+			//	end = start + Corrections[i].Length * normal;
+
+			//	Gizmos.color = Color.cyan;
+			//	Gizmos.DrawSphere(start, 0.025f);
+			//	Gizmos.DrawLine(start, end);
+			//	Gizmos.DrawSphere(end, 0.025f);
+			//}
+			*/
+		}
+
+		private void DrawSphere(Vector3 position, float radius, Color color) {
+			Handles.color = color;
+			Handles.SphereHandleCap(0, position, Quaternion.identity, radius, EventType.Repaint);
+		}
+
+		private void DrawCube(Vector3 position, Quaternion rotation, float size, Color color) {
+			Handles.color = color;
+			Handles.CubeHandleCap(0, position, rotation, size, EventType.Repaint);
+		}
+
+		private void DrawLine(Vector3 a, Vector3 b, float width, Color color) {
+			Handles.color = color;
+			Handles.DrawAAPolyLine(width, new Vector3[2] {a,b});
+		}
+
+		private void DrawDottedLine(Vector3 a, Vector3 b, float width, Color color) {
+			Handles.color = color;
+			Handles.DrawDottedLine(a, b, width);
+		}
+
+		private void DrawArrow(Vector3 position, Quaternion rotation, float length, Color color) {
+			Handles.color = color;
+			Handles.ArrowHandleCap(0, position, rotation, length, EventType.Repaint);
+		}
+
+		private void DrawSolidArc(Vector3 position, Vector3 normal, Vector3 from, float angle, float radius, Color color) {
+			Handles.color = color;
+			Handles.DrawSolidArc(position, normal, from, angle, radius);
+		}
+
+		private void SetGUIColor(Color color) {
+			GUI.backgroundColor = color;
+		}
+
+		private void ComputeMaxIndentLevel(Transform t, int level, ref int maxIndent) {
+			maxIndent = System.Math.Max(maxIndent, level);
+			for(int i=0; i<t.childCount; i++) {
+				ComputeMaxIndentLevel(t.GetChild(i), level+1, ref maxIndent);
+			}
+		}
+
+	}
+}

Assets/External/BioIK/Editor/BioIKEditor.cs.meta

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Assets/External/BioIK/Helpers.meta

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Assets/External/BioIK/Helpers/Enums.cs

@@ -0,0 +1,5 @@
+namespace BioIK {
+	public enum ObjectiveType {Position, Orientation, LookAt, Distance, Displacement, JointValue, Projection}
+	public enum JointType {Rotational, Translational};
+	public enum MotionType {Instantaneous, Realistic};
+}

Assets/External/BioIK/Helpers/Enums.cs.meta

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+  assetPath: Assets/BioIK/Helpers/Enums.cs
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Assets/External/BioIK/Helpers/Evolution.cs.meta

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+  assetPath: Assets/BioIK/Helpers/Evolution.cs
+  uploadId: 199125

Assets/External/BioIK/Helpers/Model.cs

@@ -0,0 +1,577 @@
+using UnityEngine;
+using System.Collections.Generic;
+
+namespace BioIK {
+	public class Model {
+		//Reference to the character
+		private BioIK Character;
+
+		//Reference to root
+		private BioSegment Root;
+
+		//Offset to world
+		private double OPX, OPY, OPZ;								//Offset rosition to world frame
+		private double ORX, ORY, ORZ, ORW;							//Offset rotation to world frame
+		private double OSX, OSY, OSZ;								//Offset scale to world Frame
+		
+		//Linked list of nodes in the model
+		public Node[] Nodes = new Node[0];
+
+		//Global pointers to the IK setup
+		public MotionPtr[] MotionPtrs = new MotionPtr[0];
+		public ObjectivePtr[] ObjectivePtrs = new ObjectivePtr[0];
+
+		//Assigned Configuraton
+		private double[] Configuration;
+		private double[] Gradient;
+		private double[] Losses;
+
+		//Simulated Configuration
+		private double[] PX,PY,PZ,RX,RY,RZ,RW;
+		private double[] SimulatedLosses;
+
+		//Degree of Freedom
+		private int DoF;
+
+		public Model(BioIK character) {
+			Character = character;
+
+			//Set Root
+			Root = Character.FindSegment(Character.transform);
+
+			//Create Root
+			AddNode(Root);
+			
+			//Build Model
+			BioObjective[] objectives = CollectObjectives(Root, new List<BioObjective>());
+			for(int i=0; i<objectives.Length; i++) {
+				List<BioSegment> chain = Character.GetChain(Root, objectives[i].Segment);
+				for(int j=1; j<chain.Count; j++) {
+					AddNode(chain[j]);
+				}
+			}
+
+			//Assign DoF
+			DoF = MotionPtrs.Length;
+
+			//Initialise arrays for single transform modifications
+			for(int i=0; i<Nodes.Length; i++) {
+				Nodes[i].ObjectiveImpacts = new bool[ObjectivePtrs.Length];
+			}
+			PX = new double[ObjectivePtrs.Length];
+			PY = new double[ObjectivePtrs.Length];
+			PZ = new double[ObjectivePtrs.Length];
+			RX = new double[ObjectivePtrs.Length];
+			RY = new double[ObjectivePtrs.Length];
+			RZ = new double[ObjectivePtrs.Length];
+			RW = new double[ObjectivePtrs.Length];
+			Configuration = new double[MotionPtrs.Length];
+			Gradient = new double[MotionPtrs.Length];
+			Losses = new double[ObjectivePtrs.Length];
+			SimulatedLosses = new double[ObjectivePtrs.Length];
+
+			//Assigns references to all objective nodes that are affected by a parenting node
+			for(int i=0; i<ObjectivePtrs.Length; i++) {
+				Node node = ObjectivePtrs[i].Node;
+				while(node != null) {
+					node.ObjectiveImpacts[i] = true;
+					node = node.Parent;
+				}
+			}
+
+			Refresh();
+
+			//DebugSetup();
+		}
+
+		public int GetDoF() {
+			return DoF;
+		}
+
+		public BioIK GetCharacter() {
+			return Character;
+		}
+
+		public void Refresh() {
+			//Updates configuration
+			for(int i=0; i<Configuration.Length; i++) {
+				Configuration[i] = MotionPtrs[i].Motion.GetTargetValue(true);
+			}
+
+			//Update offset from world to root
+			if(Root.Transform.root == Character.transform) {
+				OPX = OPY = OPZ = ORX = ORY = ORZ = 0.0;
+				ORW = OSX = OSY = OSZ = 1.0;
+			} else {
+				Vector3 p = Root.Transform.parent.position;
+				Quaternion r = Root.Transform.parent.rotation;
+				Vector3 s = Root.Transform.parent.lossyScale;
+				OPX = p.x; OPY = p.y; OPZ = p.z;
+				ORX = r.x; ORY = r.y; ORZ = r.z; ORW = r.w;
+				OSX = s.x; OSY = s.y; OSZ = s.z;
+			}
+
+			//Updates the nodes
+			Nodes[0].Refresh();
+		}
+
+		public void CopyFrom(Model model) {
+			OPX = model.OPX;
+			OPY = model.OPY;
+			OPZ = model.OPZ;
+			ORX = model.ORX;
+			ORY = model.ORY;
+			ORZ = model.ORZ;
+			ORW = model.ORW;
+			OSX = model.OSX;
+			OSY = model.OSY;
+			OSZ = model.OSZ;
+			for(int i=0; i<DoF; i++) {
+				Configuration[i] = model.Configuration[i];
+				Gradient[i] = model.Gradient[i];
+			}
+			for(int i=0; i<ObjectivePtrs.Length; i++) {
+				PX[i] = model.PX[i];
+				PY[i] = model.PY[i];
+				PZ[i] = model.PZ[i];
+				RX[i] = model.RX[i];
+				RY[i] = model.RY[i];
+				RZ[i] = model.RZ[i];
+				RW[i] = model.RW[i];
+				Losses[i] = model.Losses[i];
+				SimulatedLosses[i] = model.SimulatedLosses[i];
+			}
+			for(int i=0; i<Nodes.Length; i++) {
+				Nodes[i].WPX = model.Nodes[i].WPX;
+				Nodes[i].WPY = model.Nodes[i].WPY;
+				Nodes[i].WPZ = model.Nodes[i].WPZ;
+				Nodes[i].WRX = model.Nodes[i].WRX;
+				Nodes[i].WRY = model.Nodes[i].WRY;
+				Nodes[i].WRZ = model.Nodes[i].WRZ;
+				Nodes[i].WRW = model.Nodes[i].WRW;
+				Nodes[i].WSX = model.Nodes[i].WSX;
+				Nodes[i].WSY = model.Nodes[i].WSY;
+				Nodes[i].WSZ = model.Nodes[i].WSZ;
+
+				Nodes[i].LPX = model.Nodes[i].LPX;
+				Nodes[i].LPY = model.Nodes[i].LPY;
+				Nodes[i].LPZ = model.Nodes[i].LPZ;
+				Nodes[i].LRX = model.Nodes[i].LRX;
+				Nodes[i].LRY = model.Nodes[i].LRY;
+				Nodes[i].LRZ = model.Nodes[i].LRZ;
+				Nodes[i].LRW = model.Nodes[i].LRW;
+
+				//Nodes[i].RootX = model.Nodes[i].RootX;
+				//Nodes[i].RootY = model.Nodes[i].RootY;
+				//Nodes[i].RootZ = model.Nodes[i].RootZ;
+				Nodes[i].XValue = model.Nodes[i].XValue;
+				Nodes[i].YValue = model.Nodes[i].YValue;
+				Nodes[i].ZValue = model.Nodes[i].ZValue;
+			}
+		}
+
+		//Computes the loss as the RMSE over all objectives
+		public double ComputeLoss(double[] configuration) {
+			FK(configuration);
+			double loss = 0.0;
+			for(int i=0; i<ObjectivePtrs.Length; i++) {
+				Node node = ObjectivePtrs[i].Node;
+				Losses[i] = ObjectivePtrs[i].Objective.ComputeLoss(node.WPX, node.WPY, node.WPZ, node.WRX, node.WRY, node.WRZ, node.WRW, node, Configuration);
+				loss += Losses[i];
+			}
+			return System.Math.Sqrt(loss / (double)ObjectivePtrs.Length);
+		}
+
+		//Computes the gradient
+		public double[] ComputeGradient(double[] configuration, double resolution) {
+			double oldLoss = ComputeLoss(configuration);
+			for(int j=0; j<DoF; j++) {
+				Configuration[j] += resolution;
+				MotionPtrs[j].Node.SimulateModification(Configuration);
+				Configuration[j] -= resolution;
+				double newLoss = 0.0;
+				for(int i=0; i<ObjectivePtrs.Length; i++) {
+					newLoss += SimulatedLosses[i];
+				}
+				newLoss = System.Math.Sqrt(newLoss / (double)ObjectivePtrs.Length);
+				Gradient[j] = (newLoss - oldLoss) / resolution;
+			}
+			return Gradient;
+		}
+
+		//Returns whether the model converges for a particular configuration
+		public bool CheckConvergence(double[] configuration) {
+			FK(configuration);
+			for(int i=0; i<ObjectivePtrs.Length; i++) {
+				Model.Node node = ObjectivePtrs[i].Node;
+				if(!ObjectivePtrs[i].Objective.CheckConvergence(node.WPX, node.WPY, node.WPZ, node.WRX, node.WRY, node.WRZ, node.WRW, node, configuration)) {
+					return false;
+				}
+			}
+			return true;
+		}
+
+		//Applies a forward kinematics pass to the model
+		private void FK(double[] configuration) {
+			for(int i=0; i<Configuration.Length; i++) {
+				Configuration[i] = configuration[i];
+			}
+			Nodes[0].FeedForwardConfiguration(configuration);
+		}
+
+		//Adds a segment node into the model
+		private void AddNode(BioSegment segment) {
+			if(FindNode(segment.Transform) == null) {
+				Node node = new Node(this, FindNode(segment.Transform.parent), segment);
+
+				if(node.Joint != null) {
+					if(node.Joint.GetDoF() == 0 || !node.Joint.enabled) {
+						node.Joint = null;
+					} else {
+						if(node.Joint.X.IsEnabled()) {
+							MotionPtr motionPtr = new MotionPtr(node.Joint.X, node, MotionPtrs.Length);
+							System.Array.Resize(ref MotionPtrs, MotionPtrs.Length+1);
+							MotionPtrs[MotionPtrs.Length-1] = motionPtr;
+							node.XEnabled = true;
+							node.XIndex = motionPtr.Index;
+						}
+						if(node.Joint.Y.IsEnabled()) {
+							MotionPtr motionPtr = new MotionPtr(node.Joint.Y, node, MotionPtrs.Length);
+							System.Array.Resize(ref MotionPtrs, MotionPtrs.Length+1);
+							MotionPtrs[MotionPtrs.Length-1] = motionPtr;
+							node.YEnabled = true;
+							node.YIndex = motionPtr.Index;
+						}
+						if(node.Joint.Z.IsEnabled()) {
+							MotionPtr motionPtr = new MotionPtr(node.Joint.Z, node, MotionPtrs.Length);
+							System.Array.Resize(ref MotionPtrs, MotionPtrs.Length+1);
+							MotionPtrs[MotionPtrs.Length-1] = motionPtr;
+							node.ZEnabled = true;
+							node.ZIndex = motionPtr.Index;
+						}
+					}
+				}
+
+				BioObjective[] objectives = segment.Objectives;
+				for(int i=0; i<objectives.Length; i++) {
+					if(objectives[i].enabled) {
+						System.Array.Resize(ref ObjectivePtrs, ObjectivePtrs.Length+1);
+						ObjectivePtrs[ObjectivePtrs.Length-1] = new ObjectivePtr(objectives[i], node, ObjectivePtrs.Length);
+					}
+				}
+
+				System.Array.Resize(ref Nodes, Nodes.Length+1);
+				Nodes[Nodes.Length-1] = node;
+			}
+		}
+
+		//Returns all objectives which are childs in the hierarcy, beginning from the root
+		private BioObjective[] CollectObjectives(BioSegment segment, List<BioObjective> objectives) {
+			for(int i=0; i<segment.Objectives.Length; i++) {
+				if(segment.Objectives[i].enabled) {
+					objectives.Add(segment.Objectives[i]);
+				}
+			}
+			for(int i=0; i<segment.Childs.Length; i++) {
+				CollectObjectives(segment.Childs[i], objectives);
+			}
+			return objectives.ToArray();
+		}
+
+		//Returns a node in the model
+		private Node FindNode(Transform t) {
+			for(int i=0; i<Nodes.Length; i++) {
+				if(Nodes[i].Transform == t) {
+					return Nodes[i];
+				}
+			}
+			return null;
+		}
+
+		//Returns the pointer to the motion
+		public MotionPtr FindMotionPtr(BioJoint.Motion motion) {
+			for(int i=0; i<MotionPtrs.Length; i++) {
+				if(MotionPtrs[i].Motion == motion) {
+					return MotionPtrs[i];
+				}
+			}
+			return null;
+		}
+
+		//Returns the pointer to the objective
+		public ObjectivePtr FindObjectivePtr(BioObjective objective) {
+			for(int i=0; i<ObjectivePtrs.Length; i++) {
+				if(ObjectivePtrs[i].Objective == objective) {
+					return ObjectivePtrs[i];
+				}
+			}
+			return null;
+		}
+
+		//Subclass representing the single nodes for the OFKT data structure.
+		//Values are stored using primitive data types for faster access and efficient computation.
+		public class Node {
+			public Model Model;							//Reference to the kinematic model
+			public Node Parent;							//Reference to the parent of this node
+			public Node[] Childs = new Node[0];			//Reference to all child nodes
+			public Transform Transform;					//Reference to the transform
+			public BioJoint Joint;						//Reference to the joint
+			public Transform[] Chain;
+
+			public double WPX, WPY, WPZ;				//World position
+			public double WRX, WRY, WRZ, WRW;			//World rotation
+			public double WSX, WSY, WSZ;				//World scale
+			public double LPX, LPY, LPZ;				//Local position
+			public double LRX, LRY, LRZ, LRW;			//Local rotation
+			//public double RootX, RootY, RootZ;		//World position of root joint
+
+			public bool XEnabled = false;
+			public bool YEnabled = false;
+			public bool ZEnabled = false;
+			public int XIndex = -1;
+			public int YIndex = -1;
+			public int ZIndex = -1;
+			public double XValue = 0.0;					//
+			public double YValue = 0.0;					//
+			public double ZValue = 0.0;					//
+		
+			public bool[] ObjectiveImpacts;				//Boolean values to represent which objective indices in the whole kinematic tree are affected (TODO: Refactor this)
+
+			//Setup for the node
+			public Node(Model model, Node parent, BioSegment segment) {
+				Model = model;
+				Parent = parent;
+				if(Parent != null) {
+					Parent.AddChild(this);
+				}
+				Transform = segment.Transform;
+				Joint = segment.Joint;
+
+				List<Transform> reverseChain = new List<Transform>();
+				reverseChain.Add(Transform);
+				Node p = parent;
+				while(p != null) {
+					reverseChain.Add(p.Transform);
+					p = p.Parent;
+				}
+				reverseChain.Reverse();
+				Chain = reverseChain.ToArray();
+			}
+
+			//Adds a child to this node
+			public void AddChild(Node child) {
+				System.Array.Resize(ref Childs, Childs.Length+1);
+				Childs[Childs.Length-1] = child;
+			}
+
+			//Recursively refreshes the current transform data
+			public void Refresh() {
+				//Local
+				if(Joint == null) {
+					Vector3 lp = Transform.localPosition;
+					Quaternion lr = Transform.localRotation;
+					LPX = lp.x;
+					LPY = lp.y;
+					LPZ = lp.z;
+					LRX = lr.x;
+					LRY = lr.y;
+					LRZ = lr.z;
+					LRW = lr.w;
+				} else {
+					XValue = Joint.X.GetTargetValue(true);
+					YValue = Joint.Y.GetTargetValue(true);
+					ZValue = Joint.Z.GetTargetValue(true);
+					Joint.ComputeLocalTransformation(XValue, YValue, ZValue, out LPX, out LPY, out LPZ, out LRX, out LRY, out LRZ, out LRW);
+				}
+				Vector3 ws = Transform.lossyScale;
+				WSX = ws.x;
+				WSY = ws.y;
+				WSZ = ws.z;
+
+				//World
+				ComputeWorldTransformation();
+
+				//Feed Forward
+				foreach(Node child in Childs) {
+					child.Refresh();
+				}
+			}
+
+			//Updates local and world transform, and feeds the joint variable configuration forward to all childs
+			public void FeedForwardConfiguration(double[] configuration, bool updateWorld = false) {
+				//Assume no local update is required
+				bool updateLocal = false;
+
+				if(XEnabled && configuration[XIndex] != XValue) {
+					XValue = configuration[XIndex];
+					updateLocal = true;
+				}
+				if(YEnabled && configuration[YIndex] != YValue) {
+					YValue = configuration[YIndex];
+					updateLocal = true;
+				}
+				if(ZEnabled && configuration[ZIndex] != ZValue) {
+					ZValue = configuration[ZIndex];
+					updateLocal = true;
+				}
+				
+				//Only update local transformation if a joint value has changed
+				if(updateLocal) {
+					Joint.ComputeLocalTransformation(XValue, YValue, ZValue, out LPX, out LPY, out LPZ, out LRX, out LRY, out LRZ, out LRW);
+					updateWorld = true;
+				}
+
+				//Only update world transformation if local transformation (in this or parent node) has changed
+				if(updateWorld) {
+					ComputeWorldTransformation();
+				}
+
+				//Feed forward the joint variable configuration
+				foreach(Node child in Childs) {
+					child.FeedForwardConfiguration(configuration, updateWorld);
+				}
+			}
+
+			//Simulates a single transform modification while leaving the whole data structure unchanged
+			//Returns the resulting Cartesian posture transformations in the out values
+			public void SimulateModification(
+				double[] configuration
+			) {
+				double[] px=Model.PX; double[] py=Model.PY; double[] pz=Model.PZ;
+				double[] rx=Model.RX; double[] ry=Model.RY; double[] rz=Model.RZ; double[] rw=Model.RW;
+				for(int i=0; i<Model.ObjectivePtrs.Length; i++) {
+					Node node = Model.ObjectivePtrs[i].Node;
+					if(ObjectiveImpacts[i]) {
+						//WorldPosition = ParentPosition + ParentRotation * (LocalPosition . ParentScale) + ParentRotation * LocalRotation * WorldRotation^-1 * (ObjectivePosition - WorldPosition)
+						//WorldRotation = ParentRotation * LocalRotation * WorldRotation^-1 * ObjectiveRotation
+						double lpX, lpY, lpZ, lrX, lrY, lrZ, lrW;
+						Joint.ComputeLocalTransformation(
+							XEnabled ? configuration[XIndex] : XValue,
+							YEnabled ? configuration[YIndex] : YValue, 
+							ZEnabled ? configuration[ZIndex] : ZValue, 
+							out lpX, out lpY, out lpZ, out lrX, out lrY, out lrZ, out lrW
+						);
+						double Rx, Ry, Rz, Rw, X, Y, Z;
+						if(Parent == null) {
+							px[i] = Model.OPX;
+							py[i] = Model.OPY;
+							pz[i] = Model.OPZ;
+							Rx = Model.ORX;
+							Ry = Model.ORY;
+							Rz = Model.ORZ;
+							Rw = Model.ORW;
+							X = Model.OSX*lpX;
+							Y = Model.OSY*lpY;
+							Z = Model.OSZ*lpZ;
+						} else {
+							px[i] = Parent.WPX;
+							py[i] = Parent.WPY;
+							pz[i] = Parent.WPZ;
+							Rx = Parent.WRX;
+							Ry = Parent.WRY;
+							Rz = Parent.WRZ;
+							Rw = Parent.WRW;
+							X = Parent.WSX*lpX;
+							Y = Parent.WSY*lpY;
+							Z = Parent.WSZ*lpZ;
+						}
+						double qx = Rx * lrW + Ry * lrZ - Rz * lrY + Rw * lrX;
+						double qy = -Rx * lrZ + Ry * lrW + Rz * lrX + Rw * lrY;
+						double qz = Rx * lrY - Ry * lrX + Rz * lrW + Rw * lrZ;
+						double qw = -Rx * lrX - Ry * lrY - Rz * lrZ + Rw * lrW;
+						double dot = WRX*WRX + WRY*WRY + WRZ*WRZ + WRW*WRW;
+						double x = qx/dot; double y = qy/dot; double z = qz/dot; double w = qw/dot;
+						qx = x * WRW + y * -WRZ - z * -WRY + w * -WRX;
+						qy = -x * -WRZ + y * WRW + z * -WRX + w * -WRY;
+						qz = x * -WRY - y * -WRX + z * WRW + w * -WRZ;
+						qw = -x * -WRX - y * -WRY - z * -WRZ + w * WRW;
+						px[i] +=
+								+ 2.0 * ((0.5 - Ry * Ry - Rz * Rz) * X + (Rx * Ry - Rw * Rz) * Y + (Rx * Rz + Rw * Ry) * Z)
+								+ 2.0 * ((0.5 - qy * qy - qz * qz) * (node.WPX-WPX) + (qx * qy - qw * qz) * (node.WPY-WPY) + (qx * qz + qw * qy) * (node.WPZ-WPZ));
+						py[i] += 
+								+ 2.0 * ((Rx * Ry + Rw * Rz) * X + (0.5 - Rx * Rx - Rz * Rz) * Y + (Ry * Rz - Rw * Rx) * Z)
+								+ 2.0 * ((qx * qy + qw * qz) * (node.WPX-WPX) + (0.5 - qx * qx - qz * qz) * (node.WPY-WPY) + (qy * qz - qw * qx) * (node.WPZ-WPZ));
+						pz[i] += 
+								+ 2.0 * ((Rx * Rz - Rw * Ry) * X + (Ry * Rz + Rw * Rx) * Y + (0.5 - (Rx * Rx + Ry * Ry)) * Z)
+								+ 2.0 * ((qx * qz - qw * qy) * (node.WPX-WPX) + (qy * qz + qw * qx) * (node.WPY-WPY) + (0.5 - qx * qx - qy * qy) * (node.WPZ-WPZ));
+						rx[i] = qx * node.WRW + qy * node.WRZ - qz * node.WRY + qw * node.WRX;
+						ry[i] = -qx * node.WRZ + qy * node.WRW + qz * node.WRX + qw * node.WRY;
+						rz[i] = qx * node.WRY - qy * node.WRX + qz * node.WRW + qw * node.WRZ;
+						rw[i] = -qx * node.WRX - qy * node.WRY - qz * node.WRZ + qw * node.WRW;
+						Model.SimulatedLosses[i] = Model.ObjectivePtrs[i].Objective.ComputeLoss(px[i], py[i], pz[i], rx[i], ry[i], rz[i], rw[i], node, configuration);
+					} else {
+						px[i] = node.WPX;
+						py[i] = node.WPY;
+						pz[i] = node.WPZ;
+						rx[i] = node.WRX;
+						ry[i] = node.WRY;
+						rz[i] = node.WRZ;
+						rw[i] = node.WRW;
+						Model.SimulatedLosses[i] = Model.Losses[i];
+					}
+				}
+			}
+
+			//Computes the world transformation using the current joint variable configuration
+			private void ComputeWorldTransformation() {
+				//WorldPosition = ParentPosition + ParentRotation*LocalPosition;
+				//WorldRotation = ParentRotation*LocalRotation;
+				double RX,RY,RZ,RW,X,Y,Z;
+				if(Parent == null) {
+					WPX = Model.OPX;
+					WPY = Model.OPY;
+					WPZ = Model.OPZ;
+					RX = Model.ORX;
+					RY = Model.ORY;
+					RZ = Model.ORZ;
+					RW = Model.ORW;
+					X = Model.OSX*LPX;
+					Y = Model.OSY*LPY;
+					Z = Model.OSZ*LPZ;
+				} else {
+					WPX = Parent.WPX;
+					WPY = Parent.WPY;
+					WPZ = Parent.WPZ;
+					RX = Parent.WRX;
+					RY = Parent.WRY;
+					RZ = Parent.WRZ;
+					RW = Parent.WRW;
+					X = Parent.WSX*LPX;
+					Y = Parent.WSY*LPY;
+					Z = Parent.WSZ*LPZ;
+				}
+				WPX += 2.0 * ((0.5 - RY * RY - RZ * RZ) * X + (RX * RY - RW * RZ) * Y + (RX * RZ + RW * RY) * Z);
+				WPY += 2.0 * ((RX * RY + RW * RZ) * X + (0.5 - RX * RX - RZ * RZ) * Y + (RY * RZ - RW * RX) * Z);
+				WPZ += 2.0 * ((RX * RZ - RW * RY) * X + (RY * RZ + RW * RX) * Y + (0.5 - RX * RX - RY * RY) * Z);
+				WRX = RX * LRW + RY * LRZ - RZ * LRY + RW * LRX;
+				WRY = -RX * LRZ + RY * LRW + RZ * LRX + RW * LRY;
+				WRZ = RX * LRY - RY * LRX + RZ * LRW + RW * LRZ;
+				WRW = -RX * LRX - RY * LRY - RZ * LRZ + RW * LRW;
+			}
+		}
+
+		//Data class to store pointers to the objectives
+		public class ObjectivePtr {
+			public BioObjective Objective;
+			public Node Node;
+			public int Index;
+			public ObjectivePtr(BioObjective objective, Node node, int index) {
+				Objective = objective;
+				Node = node;
+				Index = index;
+			}
+		}
+
+		//Data class to store pointers to the joint motions
+		public class MotionPtr {
+			public BioJoint.Motion Motion;
+			public Node Node;
+			public int Index;
+			public MotionPtr(BioJoint.Motion motion, Node node, int index) {
+				Motion = motion;
+				Node = node;
+				Index = index;
+			}
+		}
+	}
+}

Assets/External/BioIK/Helpers/Model.cs.meta

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+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Helpers/Model.cs
+  uploadId: 199125

Assets/External/BioIK/Helpers/Utility.cs

@@ -0,0 +1,177 @@
+using UnityEngine;
+
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace BioIK {
+
+	public static class Utility {
+		public const double Deg2Rad = 0.017453292;
+		public const double Rad2Deg = 57.29578049;
+		public const double PI = 3.14159265358979;
+
+		public static void Destroy(Component c) {
+			if(c == null) {
+				return;
+			}
+			#if UNITY_EDITOR
+			if(Application.isPlaying) {
+				Object.Destroy(c);
+			} else if(!EditorApplication.isPlayingOrWillChangePlaymode) {
+				Undo.DestroyObjectImmediate(c);
+			}
+			#else
+			Object.Destroy(c);
+			#endif
+		}
+
+		public static Vector3 DAZ2Unity(Vector3 angles) {
+			return (Quaternion.Euler(180f, 0f, 0f) * Quaternion.Euler(angles.x, angles.y, angles.z)).eulerAngles;
+		}
+
+		public static Vector3 Unity2DAZ(Vector3 angles) {
+			return (Quaternion.Euler(-180f, 0f, 0f) * Quaternion.Euler(angles.x, angles.y, angles.z)).eulerAngles;
+		}
+
+		public static System.DateTime GetTimestamp() {
+			return System.DateTime.Now;
+		}
+
+		public static double GetElapsedTime(System.DateTime timestamp) {
+			return (System.DateTime.Now-timestamp).Duration().TotalSeconds;
+		}
+
+		public static void Cleanup(Transform t) {
+			/*
+			BioSegment segment = t.GetComponent<BioSegment>();
+			if(segment != null) {
+				if(segment.Joint != null) {
+					segment.Joint.Remove();
+				}
+				foreach(BioObjective objective in segment.Objectives) {
+					objective.Remove();
+				}
+				Destroy(segment);
+			}
+			*/
+			
+			foreach(BioJoint joint in t.GetComponents<BioJoint>()) {
+				joint.Erase();
+			}
+			foreach(BioObjective objective in t.GetComponents<BioObjective>()) {
+				objective.Erase();
+			}
+			foreach(BioSegment segment in t.GetComponents<BioSegment>()) {
+				Destroy(segment);
+			}
+			
+			for(int i=0; i<t.childCount; i++) {
+				Cleanup(t.GetChild(i));
+			}
+		}
+
+		public static BioSegment AddBioSegment(BioIK character, Transform t) {
+			#if UNITY_EDITOR
+			if(Application.isPlaying) {
+				return (t.gameObject.AddComponent(typeof(BioSegment)) as BioSegment).Create(character);
+			} else {
+				return (Undo.AddComponent(t.gameObject, typeof(BioSegment)) as BioSegment).Create(character);
+			}
+			#else
+			return (t.gameObject.AddComponent(typeof(BioSegment)) as BioSegment).Create(character);
+			#endif
+		}
+
+		public static BioJoint AddBioJoint(BioSegment segment) {
+			#if UNITY_EDITOR
+			if(Application.isPlaying) {
+				return (segment.gameObject.AddComponent(typeof(BioJoint)) as BioJoint).Create(segment);
+			} else {
+				return (Undo.AddComponent(segment.gameObject, typeof(BioJoint)) as BioJoint).Create(segment);
+			}
+			#else
+			return (segment.gameObject.AddComponent(typeof(BioJoint)) as BioJoint).Create(segment);
+			#endif
+		}
+
+		public static BioObjective AddObjective(BioSegment segment, ObjectiveType type) {
+			#if UNITY_EDITOR
+			if(Application.isPlaying) {
+				switch(type) {
+					case ObjectiveType.Position:
+					return (segment.gameObject.AddComponent(typeof(Position)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Orientation:
+					return (segment.gameObject.AddComponent(typeof(Orientation)) as BioObjective).Create(segment);
+
+					case ObjectiveType.LookAt:
+					return (segment.gameObject.AddComponent(typeof(LookAt)) as BioObjective).Create(segment);;
+
+					case ObjectiveType.Distance:
+					return (segment.gameObject.AddComponent(typeof(Distance)) as BioObjective).Create(segment);
+
+					case ObjectiveType.JointValue:
+					return (segment.gameObject.AddComponent(typeof(JointValue)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Displacement:
+					return (segment.gameObject.AddComponent(typeof(Displacement)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Projection:
+					return (segment.gameObject.AddComponent(typeof(Projection)) as BioObjective).Create(segment);
+				}
+			} else {
+				switch(type) {
+					case ObjectiveType.Position:
+					return (Undo.AddComponent(segment.gameObject, typeof(Position)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Orientation:
+					return (Undo.AddComponent(segment.gameObject, typeof(Orientation)) as BioObjective).Create(segment);
+
+					case ObjectiveType.LookAt:
+					return (Undo.AddComponent(segment.gameObject, typeof(LookAt)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Distance:
+					return (Undo.AddComponent(segment.gameObject, typeof(Distance)) as BioObjective).Create(segment);
+
+					case ObjectiveType.JointValue:
+					return (Undo.AddComponent(segment.gameObject, typeof(JointValue)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Displacement:
+					return (Undo.AddComponent(segment.gameObject, typeof(Displacement)) as BioObjective).Create(segment);
+
+					case ObjectiveType.Projection:
+					return (Undo.AddComponent(segment.gameObject, typeof(Projection)) as BioObjective).Create(segment);
+				}
+			}
+			return null;
+			#else
+			switch(type) {
+				case ObjectiveType.Position:
+				return (segment.gameObject.AddComponent(typeof(Position)) as BioObjective).Create(segment);
+
+				case ObjectiveType.Orientation:
+				return (segment.gameObject.AddComponent(typeof(Orientation)) as BioObjective).Create(segment);
+
+				case ObjectiveType.LookAt:
+				return (segment.gameObject.AddComponent(typeof(LookAt)) as BioObjective).Create(segment);;
+
+				case ObjectiveType.Distance:
+				return (segment.gameObject.AddComponent(typeof(Distance)) as BioObjective).Create(segment);
+
+				case ObjectiveType.JointValue:
+				return (segment.gameObject.AddComponent(typeof(JointValue)) as BioObjective).Create(segment);
+
+				case ObjectiveType.Displacement:
+				return (segment.gameObject.AddComponent(typeof(Displacement)) as BioObjective).Create(segment);
+
+				case ObjectiveType.Projection:
+				return (segment.gameObject.AddComponent(typeof(Projection)) as BioObjective).Create(segment);
+			}
+			return null;
+			#endif
+		}
+
+	}
+
+}

Assets/External/BioIK/Helpers/Utility.cs.meta

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+  uploadId: 199125

Assets/External/BioIK/ReadMe

@@ -0,0 +1,95 @@
+========================================================================================================================
+-------------------------------------------------------- BIO IK --------------------------------------------------------
+========================================================================================================================
+Hello! First of all, thank you for your interest and trust in this asset! I hope (and believe!) you will not be disappointed. :)
+
+Everything you need 'BioIK' component. Add it to your character, and add joints and objectives wherever you like. I suggest you 
+take a look at the various demo scenes to get a quick understanding of how it all works! Note that the online step-by-step tutorial 
+is still online, it was much more complex at that time and is now outdated, but can still be used to get an impression about the concept.
+If you are happy with this asset, please let me know! If you use it for scientific research or related purposes, I'd be glad 
+if you reference my corresponding publications on my website. If you have any questions or suggestions for improvements, 
+just contact me. If you experience any bugs or unexpected behaviour - please let me know! I will fix it as soon as possible 
+since I'm very interested in consistently improving this asset. Hence, further updates will frequently come! :)
+
+--- HOW TO SETUP YOUR KINEMATIC MODEL ---
+    #Step 1: Provide an arbitrary model with a hierarchical structure of game objects.
+    #Step 2: Add the 'BioIK' component somewhere to your character. You should then see the controllable segments connected by chains.
+    #Step 3: Add joints and objectives where desired. Joints define the motion, Objectives define the goals to be reached by the optimisation.
+             Note that each segment can only have one joint, but multiple objectives at the same time. However, be aware that a higher number
+             of objectives naturally increases the complexity, but can also help to constrain the motion or possible solutions.
+    #Step 4: Fill the parameters for the objectives (i.e. Transform references).
+    #Step 5: If desired, play around with the settings parameters for the algorithm, or the weights for the objectives.
+    #Step 6: Everything should be fine now. Go play around and see the magic happen! :)
+
+--- PARAMETERS ---
+    ===BioIK===
+    Generations (Recommended: 1-3):
+        The number of generations (iterations) per frame. Increasing this parameter linearly increases the computation time. 
+    Individiuals (Recommended: 40-120):
+        This is the number of individuals (potential solutions) that are heuristically created and evolved during each evolutionary generation.
+        This number should always be significantly higher than the elitist individuals.
+    Elites (Recommended: 1-3):
+        This is the number of individuals that are currently most successfull among the population. Those are tracked and are
+        exploited to track multiple solutions (local extrema) simultaneously. 1 Elite will cause strictly unimodal solutions
+        but might get stuck in suboptimal extrema. Multiple elites are likely to cause small fluctuations due to multimodal optimisation.
+        For simple kinematic structures, one elite should be sufficient. If you observe the algorithm getting stuck, try using two or three elites.
+    Smoothing (Recommended: 0.1-0.5):
+        This simply blends between the last joint positions and the current joint positions, introducing a smoother transition between postures.
+    Animation Weight:
+	    This factor weights animation into solving IK by manipulating the reference frame and then by post-modulating the animation.
+        Hence, 0 = zero animation added and 1 = full animation added into IK.
+        Note that this factor also shifts the predefined joint limits in direction of the animation offset.
+	Animation Blend:
+	    This factor blends between the animation posture and the evolved IK posture, where 0 = IK posture and 1 = animation posture.
+      Motion Type:
+        Realistic - Creates smooth motion to the target configuration depending on acceleration and velocity.
+        Instantaneous - Immediately assigns the target configuration.
+
+    ===Joints===
+        Anchor:
+            The connected anchor to which the motion is relative to.
+        Orientation:
+            The orientation of the motion relative to the connected body.
+	    Default Frame:
+	        This is the reference transformation for computing relative joint motion.
+
+        X/Y/Z Motion:
+            Constrained:
+                Use this if you want to use joint limits.
+            Lower Limit:
+                Assign a lower limit for this joint.
+            Upper Limit:
+                Assign an upper limit for this joint.
+            Target Value:
+                This value is controlled by BioIK, but you can also individually set this value if you want and if you turn off solving IK automatically :)
+
+    ===Objective Component=== (See individual files for further description)
+        Weight:
+            How important is this objective for the optimisation?
+        ---Position---
+            This objective optimises a given target position with XYZ coordinates. The target can either be a transform or a Vector3.
+            The maximum error is the threshold for which a solution is considered as converged for this objective.
+        ---Orientation---
+            This objective optimises a given target orientation. The target can either be a transform or a Quaternion.
+            The maximum error is the threshold for which a solution is considered as converged for this objective.
+        ---LookAt---
+            This objective optimises a target by looking into its direction relative to the objective. The target can either be a transform or a Vector3.
+            The direction vector is defined relative to the objective. The maximum error is the threshold for which a solution is considered as converged for this objective.
+        ---Distance--- (beta development)
+            This objective ensures that the distance from the objective to the target becomes not lower than the given distance threshold.
+        ---Displacement--- (beta development)
+            This objective aims to achieve minimal joint value changes during optimisation, and thus to avoid fluctuations or larger posture changes.
+            Note that the weight should typically be chosen comparatively small.
+        ---JointValue--- (beta development)
+            This objective aims to maintain given joint value for a specific joint.
+        ---Projection--- (beta development)
+            This objective projects a transform onto the surface with respect to the normal vector and the projection distance. (Will be integrated into position and orientation soon)
+
+
+========================================================================================================================
+--------------------------------------------------- ADDITIONAL NOTES ---------------------------------------------------
+========================================================================================================================
+#1 - Please avoid non-uniform scaling. It's the root of all evil and might destroy the IK solutions. The implemented FK solver does
+     not consider this mainly for performance reasons.
+#2 - BIO IK NOW USES THREADING - IF YOU ARE USING THE HOLOLENS ON WINDOWS, THERE MIGHT BE SOME ISSUES. IN THIS CASE, PLEASE CONTACT ME!
+========================================================================================================================

Assets/External/BioIK/ReadMe.meta

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Assets/External/BioIK/Setup.meta

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Assets/External/BioIK/Setup/BioJoint.cs

@@ -0,0 +1,538 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	[AddComponentMenu("")]
+	public class BioJoint : MonoBehaviour {
+		public BioSegment Segment;
+		public Motion X,Y,Z;
+		public JointType JointType = JointType.Rotational;							//Type of the joint
+
+		[SerializeField] private Vector3 Anchor = Vector3.zero;						//Joint anchor
+		[SerializeField] private Vector3 Orientation = Vector3.zero;				//Joint orientation		
+		[SerializeField] private float DPX, DPY, DPZ, DRX, DRY, DRZ, DRW;			//Default frame
+
+		private Vector3 AnimationPosition, AnimatedDefaultPosition;
+		private Quaternion AnimationRotation, AnimatedDefaultRotation;
+		private double R1, R2, R3, R4, R5, R6, R7, R8, R9;							//Precomputed rotation information
+		private Vector3 LSA;														//LocalScaledAnchor
+		private Vector3 ADPADRSA;													//AnimatedDefaultPosition + AnimatedDefaultRotation * LocalScaledAnchor
+		private Vector3 LastPosition;
+		private Quaternion LastRotation;
+		private Vector3 Scale;
+
+		void Awake() {
+
+		}
+
+		void Start() {
+			LastPosition = transform.localPosition;
+			LastRotation = transform.localRotation;
+		}
+
+		void OnEnable() {
+			LastPosition = transform.localPosition;
+			LastRotation = transform.localRotation;
+			if(Segment != null) {
+				Segment.Character.Refresh();
+			}
+		}
+
+		void OnDisable() {
+			Segment.Character.Refresh();
+		}
+
+		void OnDestroy() {
+
+		}
+
+		public BioJoint Create(BioSegment segment) {
+			Segment = segment;
+			Segment.Transform.hideFlags = HideFlags.NotEditable;
+			hideFlags = HideFlags.HideInInspector;
+
+			X = new Motion(this, Vector3.right);
+			Y = new Motion(this, Vector3.up);
+			Z = new Motion(this, Vector3.forward);
+
+			SetDefaultFrame(transform.localPosition, transform.localRotation);
+			SetAnchor(Anchor);
+
+			Vector3 forward = Vector3.zero;
+			if(Segment.Childs.Length == 1) {
+				forward = Segment.Childs[0].Transform.localPosition;
+			} else if(Segment.Parent != null) {
+				forward = Quaternion.Inverse(Segment.Transform.localRotation) * Segment.Transform.localPosition;
+			}
+			if(forward.magnitude != 0f) {
+				SetOrientation(Quaternion.LookRotation(forward, Vector3.up).eulerAngles);
+			} else {
+				SetOrientation(Orientation);
+			}
+
+			LastPosition = transform.localPosition;
+			LastRotation = transform.localRotation;
+
+			return this;
+		}
+
+		public void Remove() {
+			RestoreDefaultFrame();
+			Segment.Transform.hideFlags = HideFlags.None;
+			if(Segment != null) {
+				Segment.Joint = null;
+				if(Segment.Character != null) {
+					Segment.Character.Refresh();
+				}
+			}
+			Utility.Destroy(this);
+		}
+
+		public void Erase() {
+			RestoreDefaultFrame();
+			Segment.Transform.hideFlags = HideFlags.None;
+			Utility.Destroy(this);
+		}
+
+		public void PrecaptureAnimation() {
+			transform.hasChanged = false;
+		}
+
+		public void PostcaptureAnimation() {
+			if(transform.hasChanged) {
+				AnimationPosition = transform.localPosition;
+				AnimationRotation = transform.localRotation;
+			} else {
+				AnimationPosition = new Vector3(DPX, DPY, DPZ);
+				AnimationRotation = new Quaternion(DRX, DRY, DRZ, DRW);
+			}
+		}
+
+		public void UpdateData() {
+			AnimatedDefaultPosition = (1f-Segment.Character.AnimationWeight) * new Vector3(DPX, DPY, DPZ) + Segment.Character.AnimationWeight * AnimationPosition;
+			AnimatedDefaultRotation = Quaternion.Slerp(new Quaternion(DRX, DRY, DRZ, DRW), AnimationRotation, Segment.Character.AnimationWeight);
+			R1 = (1.0 - 2.0 * (AnimatedDefaultRotation.y * AnimatedDefaultRotation.y + AnimatedDefaultRotation.z * AnimatedDefaultRotation.z));
+			R2 = 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.y + AnimatedDefaultRotation.w * AnimatedDefaultRotation.z);
+			R3 = 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.z - AnimatedDefaultRotation.w * AnimatedDefaultRotation.y);
+			R4 = 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.y - AnimatedDefaultRotation.w * AnimatedDefaultRotation.z);
+			R5 = (1.0 - 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.x + AnimatedDefaultRotation.z * AnimatedDefaultRotation.z));
+			R6 = 2.0 * (AnimatedDefaultRotation.y * AnimatedDefaultRotation.z + AnimatedDefaultRotation.w * AnimatedDefaultRotation.x);
+			R7 = 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.z + AnimatedDefaultRotation.w * AnimatedDefaultRotation.y);
+			R8 = 2.0 * (AnimatedDefaultRotation.y * AnimatedDefaultRotation.z - AnimatedDefaultRotation.w * AnimatedDefaultRotation.x);
+			R9 = (1.0 - 2.0 * (AnimatedDefaultRotation.x * AnimatedDefaultRotation.x + AnimatedDefaultRotation.y * AnimatedDefaultRotation.y));
+			LSA = Vector3.Scale(Anchor, transform.localScale);
+			ADPADRSA = AnimatedDefaultPosition + AnimatedDefaultRotation * LSA;
+			Scale = transform.lossyScale;
+		}
+
+		public void ProcessMotion() {
+			if(!enabled) {
+				return;
+			}
+
+			//Compute local transformation
+			double lpX, lpY, lpZ, lrX, lrY, lrZ, lrW;
+			if(JointType == JointType.Rotational) {
+				ComputeLocalTransformation(Utility.Deg2Rad*X.ProcessMotion(Segment.Character.MotionType), Utility.Deg2Rad*Y.ProcessMotion(Segment.Character.MotionType), Utility.Deg2Rad*Z.ProcessMotion(Segment.Character.MotionType), out lpX, out lpY, out lpZ, out lrX, out lrY, out lrZ, out lrW);
+			} else {
+				ComputeLocalTransformation(X.ProcessMotion(Segment.Character.MotionType), Y.ProcessMotion(Segment.Character.MotionType), Z.ProcessMotion(Segment.Character.MotionType), out lpX, out lpY, out lpZ, out lrX, out lrY, out lrZ, out lrW);
+			}
+
+			//Apply local transformation
+			if(Application.isPlaying) {
+				//Assigning transformation
+				transform.localPosition = (1f-Segment.Character.Smoothing) * new Vector3((float)lpX, (float)lpY, (float)lpZ) + Segment.Character.Smoothing * LastPosition;
+				transform.localRotation = Quaternion.Slerp(new Quaternion((float)lrX, (float)lrY, (float)lrZ, (float)lrW), LastRotation, Segment.Character.Smoothing);
+
+				//Blending animation
+				transform.localPosition = (1f-Segment.Character.AnimationBlend) * transform.localPosition + Segment.Character.AnimationBlend * AnimationPosition;
+				transform.localRotation = Quaternion.Slerp(transform.localRotation, AnimationRotation, Segment.Character.AnimationBlend);
+			} else {
+				transform.localPosition = new Vector3((float)lpX, (float)lpY, (float)lpZ);
+				transform.localRotation = new Quaternion((float)lrX, (float)lrY, (float)lrZ, (float)lrW);
+			}
+
+			//Remember transformation
+			LastPosition = transform.localPosition;
+			LastRotation = transform.localRotation;
+
+			transform.hasChanged = false;
+		}
+
+		//Fast implementation to compute the local transform given the joint values (in radians / metres)
+		public void ComputeLocalTransformation(double valueX, double valueY, double valueZ, out double lpX, out double lpY, out double lpZ, out double lrX, out double lrY, out double lrZ, out double lrW) {
+			if(JointType == JointType.Translational) {
+				//LocalPosition = DefaultLocalPosition + (Values . Axes)
+				//LocalRotation = DefaultLocalRotation
+				valueX /= Scale.x;
+				valueY /= Scale.y;
+				valueZ /= Scale.z;
+				double x = valueX * X.Axis.x + valueY * Y.Axis.x + valueZ * Z.Axis.x;
+				double y = valueX * X.Axis.y + valueY * Y.Axis.y + valueZ * Z.Axis.y;
+				double z = valueX * X.Axis.z + valueY * Y.Axis.z + valueZ * Z.Axis.z;
+				//Local position for translational motion
+				lpX = AnimatedDefaultPosition.x + R1 * x + R4 * y + R7 * z;
+				lpY = AnimatedDefaultPosition.y + R2 * x + R5 * y + R8 * z;
+				lpZ = AnimatedDefaultPosition.z + R3 * x + R6 * y + R9 * z;
+				//Local rotation for translational motion
+				lrX = AnimatedDefaultRotation.x; lrY = AnimatedDefaultRotation.y; lrZ = AnimatedDefaultRotation.z; lrW = AnimatedDefaultRotation.w;
+			} else {
+				//LocalPosition = WorldAnchor + AngleAxis(roll) * AngleAxis(pitch) * AngleAxis(yaw) * (-LocalAnchor)
+				//LocalRotation = DefaultLocalRotation * AngleAxis(roll) * AngleAxis(pitch) * AngleAxis(yaw)
+				double sin, x1, y1, z1, w1, x2, y2, z2, w2, qx, qy, qz, qw = 0.0;
+				if(valueZ != 0.0) {
+					sin = System.Math.Sin(valueZ/2.0);
+					qx = Z.Axis.x * sin;
+					qy = Z.Axis.y * sin;
+					qz = Z.Axis.z * sin;
+					qw = System.Math.Cos(valueZ/2.0);
+					if(valueX != 0.0) {
+						sin = System.Math.Sin(valueX/2.0);
+						x1 = X.Axis.x * sin;
+						y1 = X.Axis.y * sin;
+						z1 = X.Axis.z * sin;
+						w1 = System.Math.Cos(valueX/2.0);
+						x2 = qx; y2 = qy; z2 = qz; w2 = qw;
+						qx = x1 * w2 + y1 * z2 - z1 * y2 + w1 * x2;
+						qy = -x1 * z2 + y1 * w2 + z1 * x2 + w1 * y2;
+						qz = x1 * y2 - y1 * x2 + z1 * w2 + w1 * z2;
+						qw = -x1 * x2 - y1 * y2 - z1 * z2 + w1 * w2;
+						if(valueY != 0.0) {
+							sin = System.Math.Sin(valueY/2.0);
+							x1 = Y.Axis.x * sin;
+							y1 = Y.Axis.y * sin;
+							z1 = Y.Axis.z * sin;
+							w1 = System.Math.Cos(valueY/2.0);
+							x2 = qx; y2 = qy; z2 = qz; w2 = qw;
+							qx = x1 * w2 + y1 * z2 - z1 * y2 + w1 * x2;
+							qy = -x1 * z2 + y1 * w2 + z1 * x2 + w1 * y2;
+							qz = x1 * y2 - y1 * x2 + z1 * w2 + w1 * z2;
+							qw = -x1 * x2 - y1 * y2 - z1 * z2 + w1 * w2;
+						} else {
+
+						}
+					} else if(valueY != 0.0) {
+						sin = System.Math.Sin(valueY/2.0);
+						x1 = Y.Axis.x * sin;
+						y1 = Y.Axis.y * sin;
+						z1 = Y.Axis.z * sin;
+						w1 = System.Math.Cos(valueY/2.0);
+						x2 = qx; y2 = qy; z2 = qz; w2 = qw;
+						qx = x1 * w2 + y1 * z2 - z1 * y2 + w1 * x2;
+						qy = -x1 * z2 + y1 * w2 + z1 * x2 + w1 * y2;
+						qz = x1 * y2 - y1 * x2 + z1 * w2 + w1 * z2;
+						qw = -x1 * x2 - y1 * y2 - z1 * z2 + w1 * w2;
+					} else {
+
+					}
+				} else if(valueX != 0.0) {
+					sin = System.Math.Sin(valueX/2.0);
+					qx = X.Axis.x * sin;
+					qy = X.Axis.y * sin;
+					qz = X.Axis.z * sin;
+					qw = System.Math.Cos(valueX/2.0);
+					if(valueY != 0.0) {
+						sin = System.Math.Sin(valueY/2.0);
+						x1 = Y.Axis.x * sin;
+						y1 = Y.Axis.y * sin;
+						z1 = Y.Axis.z * sin;
+						w1 = System.Math.Cos(valueY/2.0);
+						x2 = qx; y2 = qy; z2 = qz; w2 = qw;
+						qx = x1 * w2 + y1 * z2 - z1 * y2 + w1 * x2;
+						qy = -x1 * z2 + y1 * w2 + z1 * x2 + w1 * y2;
+						qz = x1 * y2 - y1 * x2 + z1 * w2 + w1 * z2;
+						qw = -x1 * x2 - y1 * y2 - z1 * z2 + w1 * w2;
+					} else {
+
+					}
+				} else if(valueY != 0.0) {
+					sin = System.Math.Sin(valueY/2.0);
+					qx = Y.Axis.x * sin;
+					qy = Y.Axis.y * sin;
+					qz = Y.Axis.z * sin;
+					qw = System.Math.Cos(valueY/2.0);
+				} else {
+					lpX = AnimatedDefaultPosition.x;
+					lpY = AnimatedDefaultPosition.y;
+					lpZ = AnimatedDefaultPosition.z;
+					lrX = AnimatedDefaultRotation.x;
+					lrY = AnimatedDefaultRotation.y;
+					lrZ = AnimatedDefaultRotation.z;
+					lrW = AnimatedDefaultRotation.w;
+					return;
+				}
+
+				//Local Rotation
+				//R' = R*Q
+				lrX = AnimatedDefaultRotation.x * qw + AnimatedDefaultRotation.y * qz - AnimatedDefaultRotation.z * qy + AnimatedDefaultRotation.w * qx;
+				lrY = -AnimatedDefaultRotation.x * qz + AnimatedDefaultRotation.y * qw + AnimatedDefaultRotation.z * qx + AnimatedDefaultRotation.w * qy;
+				lrZ = AnimatedDefaultRotation.x * qy - AnimatedDefaultRotation.y * qx + AnimatedDefaultRotation.z * qw + AnimatedDefaultRotation.w * qz;
+				lrW = -AnimatedDefaultRotation.x * qx - AnimatedDefaultRotation.y * qy - AnimatedDefaultRotation.z * qz + AnimatedDefaultRotation.w * qw;
+
+				//Local Position
+				if(LSA.x == 0.0 && LSA.y == 0.0 && LSA.z == 0.0) {
+					//P' = Pz
+					lpX = AnimatedDefaultPosition.x;
+					lpY = AnimatedDefaultPosition.y;
+					lpZ = AnimatedDefaultPosition.z;
+				} else {
+					//P' = P + RA + R*Q*(-A)
+					lpX = ADPADRSA.x + 2.0 * ((0.5 - lrY * lrY - lrZ * lrZ) * -LSA.x + (lrX * lrY - lrW * lrZ) * -LSA.y + (lrX * lrZ + lrW * lrY) * -LSA.z);
+					lpY = ADPADRSA.y + 2.0 * ((lrX * lrY + lrW * lrZ) * -LSA.x + (0.5 - lrX * lrX - lrZ * lrZ) * -LSA.y + (lrY * lrZ - lrW * lrX) * -LSA.z);
+					lpZ = ADPADRSA.z + 2.0 * ((lrX * lrZ - lrW * lrY) * -LSA.x + (lrY * lrZ + lrW * lrX) * -LSA.y + (0.5 - lrX * lrX - lrY * lrY) * -LSA.z);
+				}
+			}
+		}
+
+		public Vector3 GetAnchorInWorldSpace() {
+			return transform.position + transform.rotation * Vector3.Scale(transform.lossyScale, Anchor);
+		}
+
+		public void SetAnchor(Vector3 anchor) {
+			Anchor = anchor;
+		}
+
+		public Vector3 GetAnchor() {
+			return Anchor;
+		}
+
+		public void SetOrientation(Vector3 orientation) {
+			Orientation = orientation;
+			Quaternion o = Quaternion.Euler(Orientation);
+			X.Axis = o * Vector3.right;
+			Y.Axis = o * Vector3.up;
+			Z.Axis = o * Vector3.forward;
+		}
+
+		public Vector3 GetOrientation() {
+			return Orientation;
+		}
+
+		public Vector3 GetDefaultPosition() {
+			return new Vector3(DPX, DPY, DPZ);
+		}
+
+		public Quaternion GetDefaultRotation() {
+			return new Quaternion(DRX, DRY, DRZ, DRW);
+		}
+
+		public int GetDoF() {
+			int dof = 0;
+			if(X.IsEnabled()) {
+				dof += 1;
+			}
+			if(Y.IsEnabled()) {
+				dof += 1;
+			}
+			if(Z.IsEnabled()) {
+				dof += 1;
+			}
+			return dof;
+		}
+
+		public void SetDefaultFrame(Vector3 localPosition, Quaternion localRotation) {
+			DPX = localPosition.x;
+			DPY = localPosition.y;
+			DPZ = localPosition.z;
+			DRX = localRotation.x;
+			DRY = localRotation.y;
+			DRZ = localRotation.z;
+			DRW = localRotation.w;
+		}
+
+		public void RestoreDefaultFrame() {
+			transform.localPosition = new Vector3(DPX, DPY, DPZ);
+			transform.localRotation = new Quaternion(DRX, DRY, DRZ, DRW);
+		}
+
+		[System.Serializable]
+		public class Motion {
+			public BioJoint Joint;
+
+			public bool Enabled;
+			public bool Constrained = true;
+			public double LowerLimit;
+			public double UpperLimit;
+			public double TargetValue;
+			public double CurrentValue;
+			public double CurrentError;
+			public double CurrentVelocity;
+			public double CurrentAcceleration;
+			public Vector3 Axis;
+
+			private const double Speedup = 1.0;
+			private const double Slowdown = 1.0;
+
+			public Motion(BioJoint joint, Vector3 axis) {
+				Joint = joint;
+				Axis = axis;
+			}
+
+			//Runs one motion control cycle
+			public double ProcessMotion(MotionType type) {
+				if(!Enabled) {
+					//return CurrentValue;
+					return 0.0;
+				}
+
+				if(!Application.isPlaying) {
+					UpdateInstantaneous();
+				} else {
+					if(type == MotionType.Instantaneous) {
+						UpdateInstantaneous();
+					}
+					if(type == MotionType.Realistic) {
+						UpdateRealistic();
+					}
+				}
+
+				return CurrentValue;
+			}
+
+			//Performs instantaneous motion control
+			private void UpdateInstantaneous() {
+				CurrentValue = TargetValue;
+				CurrentError = 0f;
+				CurrentVelocity = 0f;
+				CurrentAcceleration = 0f;
+			}
+
+			//Performs realistic motion control
+			//Input: TargetValue, CurrentValue, CurrentVelocity (initially 0), CurrentAcceleration (initially 0), MaximumVelocity, MaximumAcceleration
+			//Output: CurrentValue, CurrentVelocity, CurrentAcceleration
+			private void UpdateRealistic() {
+				if(Time.deltaTime == 0f) {
+					return;
+				}
+
+				double maxVel = Joint.JointType == JointType.Rotational ? Utility.Rad2Deg * Joint.Segment.Character.MaximumVelocity : Joint.Segment.Character.MaximumVelocity;
+				double maxAcc = Joint.JointType == JointType.Rotational ? Utility.Rad2Deg * Joint.Segment.Character.MaximumAcceleration : Joint.Segment.Character.MaximumAcceleration;
+
+				//Compute current error
+				CurrentError = TargetValue-CurrentValue;	
+
+				//Minimum distance to stop: s = |(v^2)/(2a_max)| + |a/2*t^2| + |v*t|
+				double stoppingDistance = 
+					System.Math.Abs((CurrentVelocity*CurrentVelocity)/(2.0*maxAcc*Slowdown))
+					+ System.Math.Abs(CurrentAcceleration)/2.0*Time.deltaTime*Time.deltaTime
+					+ System.Math.Abs(CurrentVelocity)*Time.deltaTime;
+
+				if(System.Math.Abs(CurrentError) > stoppingDistance) {
+					//Accelerate
+					CurrentAcceleration = System.Math.Sign(CurrentError)*System.Math.Min(System.Math.Abs(CurrentError) / Time.deltaTime, maxAcc*Speedup);
+				} else {
+					//Deccelerate
+					if(CurrentError == 0.0) {
+						CurrentAcceleration = -System.Math.Sign(CurrentVelocity)*
+						System.Math.Min(System.Math.Abs(CurrentVelocity) / Time.deltaTime, maxAcc);
+						
+					} else {
+						CurrentAcceleration = -System.Math.Sign(CurrentVelocity)*
+						System.Math.Min(
+							System.Math.Min(System.Math.Abs(CurrentVelocity) / Time.deltaTime, maxAcc), 
+							System.Math.Abs((CurrentVelocity*CurrentVelocity)/(2.0*CurrentError))
+						);
+					}
+				}
+
+				//Compute new velocity
+				CurrentVelocity += CurrentAcceleration*Time.deltaTime;
+
+				//Clamp velocity
+				if(CurrentVelocity > maxVel) {
+					CurrentVelocity = maxVel;
+				}
+				if(CurrentVelocity < -maxVel) {
+					CurrentVelocity = -maxVel;
+				}
+				
+				//Update Current Value
+				CurrentValue += CurrentVelocity*Time.deltaTime;
+			}
+
+			public void SetEnabled(bool enabled) {
+				if(Enabled != enabled) {
+					Enabled = enabled;
+					Joint.Segment.Character.Refresh();
+				}
+			}
+
+			public bool IsEnabled() {
+				return Enabled;
+			}
+
+			public void SetLowerLimit(double value) {
+				LowerLimit = System.Math.Min(0.0, value);
+			}
+
+			public double GetLowerLimit(bool normalised = false) {
+				if(Constrained) {
+					if(normalised && Joint.JointType == JointType.Rotational) {
+						return Utility.Deg2Rad * LowerLimit;
+					} else {
+						return LowerLimit;
+					}
+				} else {
+					return double.MinValue;
+				}
+			}
+
+			public void SetUpperLimit(double value) {
+				UpperLimit = System.Math.Max(0.0, value);
+			}
+
+			public double GetUpperLimit(bool normalised = false) {
+				if(Constrained) {
+					if(normalised && Joint.JointType == JointType.Rotational) {
+						return Utility.Deg2Rad * UpperLimit;
+					} else {
+						return UpperLimit;
+					}
+				} else {
+					return double.MaxValue;
+				}
+			}
+
+			public void SetTargetValue(double value, bool normalised = false) {
+				if(normalised && Joint.JointType == JointType.Rotational) {
+					value *= Utility.Rad2Deg;
+				}
+				if(Constrained) {
+					if(TargetValue > UpperLimit) {
+						value = UpperLimit;
+					}
+					if(TargetValue < LowerLimit) {
+						value = LowerLimit;
+					}
+				}
+				TargetValue = value;
+			}
+
+			public double GetTargetValue(bool normalised = false) {
+				if(normalised && Joint.JointType == JointType.Rotational) {
+					return Utility.Deg2Rad * TargetValue;
+				} else {
+					return TargetValue;
+				}
+			}
+
+			public double GetCurrentValue() {
+				return CurrentValue;
+			}
+
+			public double GetCurrentError() {
+				return CurrentError;
+			}
+
+			public double GetCurrentVelocity() {
+				return CurrentVelocity;
+			}
+
+			public double GetCurrentAcceleration() {
+				return CurrentAcceleration;
+			}
+
+		}
+	}
+
+}

Assets/External/BioIK/Setup/BioJoint.cs.meta

@@ -0,0 +1,19 @@
+fileFormatVersion: 2
+guid: 3531dc447309b4dfe8f7f4652bffd3fa
+timeCreated: 1502289032
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+AssetOrigin:
+  serializedVersion: 1
+  productId: 67819
+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Setup/BioJoint.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/BioObjective.cs

@@ -0,0 +1,82 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	[AddComponentMenu("")]
+	public abstract class BioObjective : MonoBehaviour {
+		public BioSegment Segment;
+		public double Weight = 1.0;
+
+		void Awake() {
+
+		}
+
+		void Start() {
+
+		}
+
+		void OnEnable() {
+			if(Segment != null) {
+				Segment.Character.Refresh();
+			}
+		}
+
+		void OnDisable() {
+			if(Segment != null) {
+				Segment.Character.Refresh();
+			}
+		}
+
+		void OnDestroy() {
+
+		}
+
+		public BioObjective Create(BioSegment segment) {
+			Segment = segment;
+			hideFlags = HideFlags.HideInInspector;
+			return this;
+		}
+
+		public void Remove() {
+			for(int i=0; i<Segment.Objectives.Length; i++) {
+				if(Segment.Objectives[i] == this) {
+					for(int j=i; j<Segment.Objectives.Length-1; j++) {
+						Segment.Objectives[j] = Segment.Objectives[j+1];
+					}
+					System.Array.Resize(ref Segment.Objectives, Segment.Objectives.Length-1);
+					break;
+				}
+			}
+			if(Segment != null) {
+				if(Segment.Character != null) {
+					Segment.Character.Refresh();
+				}
+			}
+			Utility.Destroy(this);
+		}
+
+		public void Erase() {
+			Utility.Destroy(this);
+		}
+
+		public void SetWeight(double weight) {
+			if(weight < 0.0) {
+				Debug.Log("Weight must be at least zero.");
+				Weight = 0.0;
+				return;
+			}
+			Weight = weight;
+		}
+
+		public double GetWeight() {
+			return Weight;
+		}
+
+		public abstract ObjectiveType GetObjectiveType();
+		public abstract void UpdateData();
+		public abstract double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration);
+		public abstract bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration);
+		public abstract double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration);
+	}
+
+}

Assets/External/BioIK/Setup/BioObjective.cs.meta

@@ -0,0 +1,19 @@
+fileFormatVersion: 2
+guid: 8afd158613c2448d7931d8562d5edcd3
+timeCreated: 1502289036
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+AssetOrigin:
+  serializedVersion: 1
+  productId: 67819
+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Setup/BioObjective.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/BioSegment.cs

@@ -0,0 +1,75 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	[AddComponentMenu("")]
+	public class BioSegment : MonoBehaviour {
+		public BioIK Character;
+		public Transform Transform;
+		public BioSegment Parent;
+		public BioSegment[] Childs = new BioSegment[0];
+		public BioJoint Joint = null;
+		public BioObjective[] Objectives = new BioObjective[0];
+
+		void Awake() {
+
+		}
+
+		void Start() {
+
+		}
+
+		void OnDestroy() {
+
+		}
+
+		public BioSegment Create(BioIK character) {
+			Character = character;
+			Transform = transform;
+			hideFlags = HideFlags.HideInInspector;
+			return this;
+		}
+
+		public Vector3 GetAnchoredPosition() {
+			return Joint == null ? Transform.position : Joint.GetAnchorInWorldSpace();
+		}
+
+		public void AddChild(BioSegment child) {
+			System.Array.Resize(ref Childs, Childs.Length+1);
+			Childs[Childs.Length-1] = child;
+		}
+
+		public void RenewRelations() {
+			Parent = null;
+			System.Array.Resize(ref Childs, 0);
+			if(Transform != Character.transform) {
+				Parent = Character.FindSegment(Transform.parent);
+				Parent.AddChild(this);
+			}
+		}
+
+		public BioJoint AddJoint() {
+			if(Joint != null) {
+				Debug.Log("The segment already has a joint.");
+			} else {
+				Joint = Utility.AddBioJoint(this);
+				Character.Refresh();
+			}
+			return Joint;
+		}
+
+		public BioObjective AddObjective(ObjectiveType type) {
+			BioObjective objective = Utility.AddObjective(this, type);
+			if(objective == null) {
+				Debug.Log("The objective could not be found.");
+				return null;
+			} else {
+				System.Array.Resize(ref Objectives, Objectives.Length+1);
+				Objectives[Objectives.Length-1] = objective;
+				Character.Refresh();
+				return Objectives[Objectives.Length-1];
+			}
+		}
+	}
+
+}

Assets/External/BioIK/Setup/BioSegment.cs.meta

@@ -0,0 +1,19 @@
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+  assetPath: Assets/BioIK/Setup/BioSegment.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives.meta

@@ -0,0 +1,9 @@
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Assets/External/BioIK/Setup/Objectives/Displacement.cs

@@ -0,0 +1,47 @@
+using UnityEngine;
+
+//!!!!!!
+//This objective type is still under development
+//!!!!!!
+
+namespace BioIK {
+
+	//This objective aims to minimise the joint configuration changes between consecutive solutions.
+	//It should only be used once as it acts as a global objective for the whole body posture.
+	//Preferably add it to the root of your character.
+	[AddComponentMenu("")]
+	public class Displacement : BioObjective {
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.Displacement;
+		}
+
+		public override void UpdateData() {
+
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double loss = 0.0;
+			for(int i=0; i<configuration.Length; i++) {
+				double diff = System.Math.Abs(Segment.Character.Evolution.GetSolution()[i] - configuration[i]) / (Segment.Character.Evolution.GetUpperBounds()[i] - Segment.Character.Evolution.GetLowerBounds()[i]);
+				loss += diff;
+			}
+			loss /= configuration.Length;
+			return Weight * loss * loss;
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			return true;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double value = 0.0;
+			for(int i=0; i<configuration.Length; i++) {
+				double diff = System.Math.Abs(Segment.Character.Evolution.GetSolution()[i] - configuration[i]) / (Segment.Character.Evolution.GetUpperBounds()[i] - Segment.Character.Evolution.GetLowerBounds()[i]);
+				value += diff;
+			}
+			return value /= configuration.Length;
+		}
+	}
+	
+}

Assets/External/BioIK/Setup/Objectives/Displacement.cs.meta

@@ -0,0 +1,19 @@
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+guid: 1222261562c2b4344aab74254d8cfdce
+timeCreated: 1502485934
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+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Setup/Objectives/Displacement.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/Distance.cs

@@ -0,0 +1,133 @@
+using UnityEngine;
+
+//!!!!!!
+//This objective type is still under development
+//!!!!!!
+
+namespace BioIK {
+
+	//This objective aims to keep particular distances to the defined transform positions. This can be used to integrate
+	//real-time collision avoidance. However, note that collision avoidance is typically a very challenging thing for motion generation,
+	//so please do not expect any wonders or some sort of black magic. It works well for typical scenarios, but it will not solve the world for you.
+	//Note that you should use preferably small weights in order to get good-looking results. Best thing is to play around with it and see what happens.
+	//It is not generally clear how to chose those weights.
+	[AddComponentMenu("")]
+	public class Distance : BioObjective {
+
+		[SerializeField] private double Radius = 0.1;
+		[SerializeField] private DistancePoint[] Points = new DistancePoint[0];
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.Distance;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+			for(int i=0; i<Points.Length; i++) {
+				if(Points[i].Target != null) {
+					Vector3 position = Points[i].Target.position;
+					Points[i].TPX = position.x;
+					Points[i].TPY = position.y;
+					Points[i].TPZ = position.z;
+				}
+			}
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double loss = 0.0;
+			for(int i=0; i<Points.Length; i++) {
+				if(Points[i] != null) {
+					double dist = System.Math.Sqrt((Points[i].TPX-WPX)*(Points[i].TPX-WPX) + (Points[i].TPY-WPY)*(Points[i].TPY-WPY) + (Points[i].TPZ-WPZ)*(Points[i].TPZ-WPZ));
+					double x = dist - Radius;
+					if(x <= 0.0) {
+						return float.MaxValue;
+					} else {
+						loss += 1.0/x;
+					}
+				}
+			}
+			loss /= Points.Length;
+			return Weight * loss * loss;
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			for(int i=0; i<Points.Length; i++) {
+				if(Points[i] != null) {
+					if(System.Math.Sqrt((Points[i].TPX-WPX)*(Points[i].TPX-WPX) + (Points[i].TPY-WPY)*(Points[i].TPZ-WPY) + (Points[i].TPZ-WPZ)*(Points[i].TPZ-WPZ)) <= Radius) {
+						return false;
+					}
+				}
+			}
+			return true;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double dist = 0.0;
+			for(int i=0; i<Points.Length; i++) {
+				if(Points[i] != null) {
+					dist = System.Math.Max(dist, System.Math.Sqrt((Points[i].TPX-WPX)*(Points[i].TPX-WPX) + (Points[i].TPY-WPY)*(Points[i].TPY-WPY) + (Points[i].TPZ-WPZ)*(Points[i].TPZ-WPZ)));
+				}
+			}
+			return dist;
+		}
+
+		public void SetRadius(double radius) {
+			Radius = radius;
+		}
+
+		public double GetRadius() {
+			return Radius;
+		}
+
+		public DistancePoint[] GetPoints() {
+			return Points;
+		}
+
+		public DistancePoint AddPoint() {
+			System.Array.Resize(ref Points, Points.Length+1);
+			Points[Points.Length-1] = new DistancePoint();
+			return Points[Points.Length-1];
+		}
+
+		public void RemovePoint() {
+			if(Points.Length > 0) {
+				System.Array.Resize(ref Points, Points.Length-1);
+			}
+		}
+	}
+
+	[System.Serializable]
+	public class DistancePoint {
+		public Transform Target;
+		public double Radius;
+		public double TPX, TPY, TPZ;
+
+		public void SetTargetTransform(Transform t) {
+			Target = t;
+			if(Target != null) {
+				SetTargetPoint(Target.position);
+			}
+		}
+
+		public void SetTargetPoint(Vector3 point) {
+			TPX = point.x;
+			TPY = point.y;
+			TPZ = point.z;
+		}
+
+		public Vector3 GetTargetPoint() {
+			return new Vector3((float)TPX, (float)TPY, (float)TPZ);
+		}
+
+		public void SetRadius(double radius) {
+			Radius = radius;
+		}
+
+		public double GetRadius() {
+			return Radius;
+		}
+	}
+
+}

Assets/External/BioIK/Setup/Objectives/Distance.cs.meta

@@ -0,0 +1,19 @@
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+  packageName: Bio IK
+  packageVersion: 2.0d
+  assetPath: Assets/BioIK/Setup/Objectives/Distance.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/JointValue.cs

@@ -0,0 +1,131 @@
+using UnityEngine;
+
+//!!!!!!
+//This objective type is still under development
+//!!!!!!
+
+namespace BioIK {
+
+	//This objective aims to keep particular joint values acting as soft-constraints. Using this requires
+	//a joint added to the segment, and introduces some sort of stiffness controlled by the weight to the joint.
+	//Currently, you will require one objective for each >enabled< motion axis you wish to control.
+	[AddComponentMenu("")]
+	public class JointValue : BioObjective {
+
+		public double TargetValue = 0.0;
+		public bool X, Y, Z;
+		
+		private BioJoint.Motion Motion;
+		private bool Valid;
+		private Model.MotionPtr Ptr;
+		private double NormalisedTargetValue;
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.JointValue;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+			Valid = IsValid();
+			if(!Valid) {
+				return;
+			}
+			if(X) {
+				Motion = Segment.Joint.X;
+			}
+			if(Y) {
+				Motion = Segment.Joint.Y;
+			}
+			if(Z) {
+				Motion = Segment.Joint.Z;
+			}
+			Ptr = Segment.Character.Evolution.GetModel().FindMotionPtr(Motion);
+			NormalisedTargetValue = Segment.Joint.JointType == JointType.Rotational ? NormalisedTargetValue = Utility.Deg2Rad * TargetValue : TargetValue;
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			if(!Valid) {
+				return 0.0;
+			}
+			double loss = configuration[Ptr.Index] - NormalisedTargetValue;
+			return Weight * loss * loss;
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			return true;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			if(!Valid) {
+				return 0.0;
+			}
+			return System.Math.Abs(configuration[Ptr.Index] - NormalisedTargetValue);
+		}
+
+		public void SetTargetValue(double value) {
+			TargetValue = value;
+		}
+
+		public double GetTargetValue() {
+			return TargetValue;
+		}
+
+		public void SetXMotion(bool enabled) {
+			if(X != enabled) {
+				ResetMotion();
+				X = enabled;
+			}
+		}
+
+		public bool IsXMotion() {
+			return X;
+		}
+
+		public void SetYMotion(bool enabled) {
+			if(Y != enabled) {
+				ResetMotion();
+				Y = enabled;
+			}
+		}
+
+		public bool IsYMotion() {
+			return Y;
+		}
+
+		public void SetZMotion(bool enabled) {
+			if(Z != enabled) {
+				ResetMotion();
+				Z = enabled;
+			}
+		}
+
+		public bool IsZMotion() {
+			return Z;
+		}
+
+		private void ResetMotion() {
+			X = false; Y = false; Z = false;
+		}
+
+		private bool IsValid() {
+			if(Segment.Joint == null) {
+				return false;
+			}
+			if(!X && !Y && !Z) {
+				return false;
+			}
+			if(X && !Segment.Joint.X.IsEnabled()) {
+				return false;
+			}
+			if(Y && !Segment.Joint.Y.IsEnabled()) {
+				return false;
+			}
+			if(Z && !Segment.Joint.Z.IsEnabled()) {
+				return false;
+			}
+			return true;
+		}
+	}
+}

Assets/External/BioIK/Setup/Objectives/JointValue.cs.meta

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+  assetPath: Assets/BioIK/Setup/Objectives/JointValue.cs
+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/LookAt.cs

@@ -0,0 +1,123 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	//This objective aims to minimise the viewing distance between the transform and the target.
+	[AddComponentMenu("")]
+	public class LookAt : BioObjective {
+
+		[SerializeField] private Transform Target;
+		[SerializeField] private double TPX, TPY, TPZ;
+		[SerializeField] private Vector3 ViewingDirection = Vector3.forward;
+		[SerializeField] private double MaximumError = 0.1;
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.LookAt;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+			if(Target != null) {
+				Vector3 position = Target.position;
+				TPX = position.x;
+				TPY = position.y;
+				TPZ = position.z;
+			}
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double aX = 2.0 * ((0.5 - (WRY * WRY + WRZ * WRZ)) * ViewingDirection.x + (WRX * WRY - WRW * WRZ) * ViewingDirection.y + (WRX * WRZ + WRW * WRY) * ViewingDirection.z);
+			double aY = 2.0 * ((WRX * WRY + WRW * WRZ) * ViewingDirection.x + (0.5 - (WRX * WRX + WRZ * WRZ)) * ViewingDirection.y + (WRY * WRZ - WRW * WRX) * ViewingDirection.z);
+			double aZ = 2.0 * ((WRX * WRZ - WRW * WRY) * ViewingDirection.x + (WRY * WRZ + WRW * WRX) * ViewingDirection.y + (0.5 - (WRX * WRX + WRY * WRY)) * ViewingDirection.z);
+			double bX = TPX-WPX;
+			double bY = TPY-WPY;
+			double bZ = TPZ-WPZ;
+			double dot = aX*bX + aY*bY + aZ*bZ;
+			double len = System.Math.Sqrt(aX*aX + aY*aY + aZ*aZ) * System.Math.Sqrt(bX*bX + bY*bY + bZ*bZ);
+			double arg = dot/len;
+			if(arg > 1.0) {
+				arg = 1.0;
+			} else if(arg < -1.0) {
+				arg = -1.0;
+			}
+			double loss = System.Math.Acos(arg);
+			return Weight * loss * loss;
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double aX = 2.0 * ((0.5 - (WRY * WRY + WRZ * WRZ)) * ViewingDirection.x + (WRX * WRY - WRW * WRZ) * ViewingDirection.y + (WRX * WRZ + WRW * WRY) * ViewingDirection.z);
+			double aY = 2.0 * ((WRX * WRY + WRW * WRZ) * ViewingDirection.x + (0.5 - (WRX * WRX + WRZ * WRZ)) * ViewingDirection.y + (WRY * WRZ - WRW * WRX) * ViewingDirection.z);
+			double aZ = 2.0 * ((WRX * WRZ - WRW * WRY) * ViewingDirection.x + (WRY * WRZ + WRW * WRX) * ViewingDirection.y + (0.5 - (WRX * WRX + WRY * WRY)) * ViewingDirection.z);
+			double bX = TPX-WPX;
+			double bY = TPY-WPY;
+			double bZ = TPZ-WPZ;
+			double dot = aX*bX + aY*bY + aZ*bZ;
+			double len = System.Math.Sqrt(aX*aX + aY*aY + aZ*aZ) * System.Math.Sqrt(bX*bX + bY*bY + bZ*bZ);
+			double arg = dot/len;
+			if(arg > 1.0) {
+				arg = 1.0;
+			} else if(arg < -1.0) {
+				arg = -1.0;
+			}
+			return System.Math.Acos(arg) <= Utility.Deg2Rad * MaximumError;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double aX = 2.0 * ((0.5 - (WRY * WRY + WRZ * WRZ)) * ViewingDirection.x + (WRX * WRY - WRW * WRZ) * ViewingDirection.y + (WRX * WRZ + WRW * WRY) * ViewingDirection.z);
+			double aY = 2.0 * ((WRX * WRY + WRW * WRZ) * ViewingDirection.x + (0.5 - (WRX * WRX + WRZ * WRZ)) * ViewingDirection.y + (WRY * WRZ - WRW * WRX) * ViewingDirection.z);
+			double aZ = 2.0 * ((WRX * WRZ - WRW * WRY) * ViewingDirection.x + (WRY * WRZ + WRW * WRX) * ViewingDirection.y + (0.5 - (WRX * WRX + WRY * WRY)) * ViewingDirection.z);
+			double bX = TPX-WPX;
+			double bY = TPY-WPY;
+			double bZ = TPZ-WPZ;
+			double dot = aX*bX + aY*bY + aZ*bZ;
+			double len = System.Math.Sqrt(aX*aX + aY*aY + aZ*aZ) * System.Math.Sqrt(bX*bX + bY*bY + bZ*bZ);
+			double arg = dot/len;
+			if(arg > 1.0) {
+				arg = 1.0;
+			} else if(arg < -1.0) {
+				arg = -1.0;
+			}
+			return Utility.Rad2Deg * System.Math.Acos(arg);
+		}
+
+		public void SetTargetTransform(Transform target) {
+			Target = target;
+			if(target != null) {
+				SetTargetPosition(Target.position);
+			}
+		}
+
+		public Transform GetTargetTransform() {
+			return Target;
+		}
+
+		public void SetTargetPosition(Vector3 position) {
+			TPX = position.x;
+			TPY = position.y;
+			TPZ = position.z;
+		}
+
+		public Vector3 GetTargetPosition() {
+			return new Vector3((float)TPX, (float)TPY, (float)TPZ);
+		}
+
+		public void SetViewingDirection(Vector3 vector) {
+			ViewingDirection = vector;
+		}
+
+		public Vector3 GetViewingDirection() {
+			return ViewingDirection;
+		}
+
+		public void SetMaximumError(double degrees) {
+			MaximumError = degrees;
+		}
+
+		public double GetMaximumError() {
+			return MaximumError;
+		}
+	}
+	
+}

Assets/External/BioIK/Setup/Objectives/LookAt.cs.meta

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+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/Orientation.cs

@@ -0,0 +1,106 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	//This objective aims to minimise the rotational distance between the transform and the target.
+	[AddComponentMenu("")]
+	public class Orientation : BioObjective {
+
+		[SerializeField] private Transform Target;
+		[SerializeField] private double TRX, TRY, TRZ, TRW;
+		[SerializeField] private double MaximumError = 0.1;
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.Orientation;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+			if(Target != null) {
+				Quaternion rotation = Target.rotation;
+				TRX = rotation.x;
+				TRY = rotation.y;
+				TRZ = rotation.z;
+				TRW = rotation.w;
+			}
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double d = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(d < 0.0) {
+				d = -d;
+				if(d > 1.0) {
+					d = 1.0;
+				}
+			} else if(d > 1.0) {
+				d = 1.0;
+			}
+			double loss = 2.0 * System.Math.Acos(d);
+			return Weight * loss * loss;
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double d = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(d < 0.0) {
+				d = -d;
+				if(d > 1.0) {
+					d = 1.0;
+				}
+			} else if(d > 1.0) {
+				d = 1.0;
+			}
+			return 2.0 * System.Math.Acos(d) <= Utility.Deg2Rad * MaximumError;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double d = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(d < 0.0) {
+				d = -d;
+				if(d > 1.0) {
+					d = 1.0;
+				}
+			} else if(d > 1.0) {
+				d = 1.0;
+			}
+			return Utility.Rad2Deg * 2.0 * System.Math.Acos(d);
+		}
+
+		public void SetTargetTransform(Transform target) {
+			Target = target;
+			if(Target != null) {
+				SetTargetRotation(Target.rotation);
+			}
+		}
+
+		public Transform GetTargetTransform() {
+			return Target;
+		}
+
+		public void SetTargetRotation(Quaternion rotation) {
+			TRX = rotation.x;
+			TRY = rotation.y;
+			TRZ = rotation.z;
+			TRW = rotation.w;
+		}
+
+		public void SetTargetRotation(Vector3 angles) {
+			SetTargetRotation(Quaternion.Euler(angles));
+		}
+
+		public Vector3 GetTargetRotattion() {
+			return new Quaternion((float)TRX, (float)TRY, (float)TRZ, (float)TRW).eulerAngles;
+		}
+
+		public void SetMaximumError(double degrees) {
+			MaximumError = degrees;
+		}
+
+		public double GetMaximumError() {
+			return MaximumError;
+		}
+		
+	}
+
+}

Assets/External/BioIK/Setup/Objectives/Orientation.cs.meta

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+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/Position.cs

@@ -0,0 +1,99 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	//This objective aims to minimise the translational distance between the transform and the target.
+	[AddComponentMenu("")]
+	public class Position : BioObjective {
+		
+		[SerializeField] private Transform Target;
+		[SerializeField] private double TPX, TPY, TPZ;
+		[SerializeField] private double MaximumError = 0.001;
+
+		private double ChainLength;
+		private double Rescaling;
+		//private Vector3 Root;
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.Position;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+			ChainLength = 0.0;
+			Transform[] chain = Segment.Character.Evolution.GetModel().FindObjectivePtr(this).Node.Chain;;
+			for(int i=0; i<chain.Length-1; i++) {
+				ChainLength += Vector3.Distance(chain[i].position, chain[i+1].position);
+			}
+			Rescaling = (Utility.PI * Utility.PI) / (ChainLength * ChainLength);
+			//Root = chain[0].position;
+			if(Target != null) {
+				Vector3 position = Target.position;
+				TPX = position.x;
+				TPY = position.y;
+				TPZ = position.z;
+			}
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			//Adaptive
+			/*
+			double loss = System.Math.Sqrt((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+			double s = System.Math.Sqrt(
+				(node.Chain.Length+loss)
+				*
+				(System.Math.Sqrt((WPX-Root.x)*(WPX-Root.x) + (WPY-Root.y)*(WPY-Root.y) + (WPZ-Root.z)*(WPZ-Root.z))+loss)
+				);
+			loss = Utility.PI * loss / s;
+			return Weight * loss * loss;
+			*/
+
+			//Fast and slightly adaptive
+			return Weight * Rescaling * ((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+			
+			//Fastest but not adaptive
+			//return Weight * ((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			return System.Math.Sqrt((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ)) <= MaximumError;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			return System.Math.Sqrt((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+		}
+
+		public void SetTargetTransform(Transform target) {
+			Target = target;
+			if(Target != null) {
+				SetTargetPosition(Target.position);
+			}
+		}
+
+		public Transform GetTargetTransform() {
+			return Target;
+		}
+
+		public void SetTargetPosition(Vector3 position) {
+			TPX = position.x;
+			TPY = position.y;
+			TPZ = position.z;
+		}
+
+		public Vector3 GetTargetPosition() {
+			return new Vector3((float)TPX, (float)TPY, (float)TPZ);
+		}
+		
+		public void SetMaximumError(double units) {
+			MaximumError = units;
+		}
+
+		public double GetMaximumError() {
+			return MaximumError;
+		}
+
+	}
+
+}

Assets/External/BioIK/Setup/Objectives/Position.cs.meta

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+  uploadId: 199125

Assets/External/BioIK/Setup/Objectives/Projection.cs

@@ -0,0 +1,231 @@
+using UnityEngine;
+
+namespace BioIK {
+
+	//This objective aims to minimise both the translational and rotational distance between
+	//the projected transform with respect to the normal of the game object to other collideable objects in the scene.
+	[AddComponentMenu("")]
+	public class Projection : BioObjective {
+
+		[SerializeField] private Transform Target;
+		[SerializeField] private double TPX, TPY, TPZ;
+		[SerializeField] private double TRX, TRY, TRZ, TRW;
+		[SerializeField] private double MaximumError = 0.001;
+		[SerializeField] private Vector3 Normal = Vector3.up;
+		[SerializeField] private float Length;
+		[SerializeField] private float Sensitivity = 0.75f;
+
+		private Vector3 LastPosition;
+		private Quaternion LastRotation;
+
+		//private Vector3 Position;
+		//private Quaternion Rotation;
+		private double ChainLength;
+		private double Rescaling;
+
+		//public Correction[] Corrections = new Correction[0];
+
+		private RaycastHit[] Hits;
+
+		public override ObjectiveType GetObjectiveType() {
+			return ObjectiveType.Projection;
+		}
+
+		public override void UpdateData() {
+			if(Segment.Character.Evolution == null) {
+				return;
+			}
+
+			ChainLength = 0.0;
+			Transform[] chain = Segment.Character.Evolution.GetModel().FindObjectivePtr(this).Node.Chain;;
+			for(int i=0; i<chain.Length-1; i++) {
+				ChainLength += Vector3.Distance(chain[i].position, chain[i+1].position);
+			}
+			Rescaling = (Utility.PI * Utility.PI) / (ChainLength * ChainLength);
+
+			if(Target != null) {
+				SetTargetPosition(Target.position);
+				SetTargetRotation(Target.rotation);
+			}
+
+			Vector3 position = new Vector3((float)TPX, (float)TPY, (float)TPZ);
+			Quaternion rotation = new Quaternion((float)TRX, (float)TRY, (float)TRZ, (float)TRW);
+
+			Vector3 normal = rotation * Normal;
+			Vector3 start = position - Length * normal;
+			Vector3 end = start + Length * normal;
+
+			Hits = Physics.RaycastAll(start, end-start, Length);
+			if(Hits.Length > 0) {
+				SortByDistance(ref Hits);
+				for(int i=0; i<Hits.Length; i++) {
+					RaycastHit hit = Hits[i];
+					if(!hit.collider.isTrigger && Segment.Character.FindSegment(hit.collider.transform) == null) {
+						position = hit.point;
+						rotation = Quaternion.FromToRotation(normal, -hit.normal.normalized) * rotation;
+						break;
+					}
+				}
+			}
+
+			position = Vector3.Slerp(LastPosition, position, Sensitivity);
+			rotation = Quaternion.Slerp(LastRotation, rotation, Sensitivity);
+
+			LastPosition = position;
+			LastRotation = rotation;
+
+			/*
+			Vector3 correctionPosition = Vector3.zero;
+			Quaternion correctionRotation = Quaternion.identity;
+			for(int i=0; i<Corrections.Length; i++) {
+				if(Physics.Raycast(position + rotation*Corrections[i].Offset, rotation*Corrections[i].Direction.normalized, out Hit, Corrections[i].Length)) {
+					if(Hit.collider.transform.root != transform.root) {
+						float weight = (Corrections[i].Length-Hit.distance) / Corrections[i].Length;
+						correctionPosition += weight * (Hit.point-position);
+						correctionRotation = Quaternion.Slerp(Quaternion.identity, Quaternion.FromToRotation(rotation*Normal.normalized, -Hit.normal.normalized), weight) * correctionRotation;
+					}
+				}
+			}
+
+			position += correctionPosition;
+			rotation = correctionRotation * rotation;
+			*/
+
+			TPX = position.x;
+			TPY = position.y;
+			TPZ = position.z;
+
+			TRX = rotation.x;
+			TRY = rotation.y;
+			TRZ = rotation.z;
+			TRW = rotation.w;
+		}
+
+		private void SortByDistance(ref RaycastHit[] hits) {
+			System.Array.Sort(hits,
+				delegate(RaycastHit a, RaycastHit b) {
+					return a.distance.CompareTo(b.distance);
+				}
+			);
+		}
+
+		public override double ComputeLoss(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			/*
+			double d = System.Math.Sqrt((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+			double s = System.Math.Sqrt((node.Chain.Length+d)*(System.Math.Sqrt((WPX-node.RootX)*(WPX-node.RootX) + (WPY-node.RootY)*(WPY-node.RootY) + (WPZ-node.RootZ)*(WPZ-node.RootZ))+d));
+			d = PI * d / s;
+			double o = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(o < 0.0) {
+				o = -o;
+			}
+			if(o > 1.0) {
+				o = 1.0;
+			}
+			o = 2.0 * System.Math.Acos(o);
+			return Weight * 0.5 * (d*d + o*o);
+			*/
+			double d = Rescaling * ((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+			double o = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(o < 0.0) {
+				o = -o;
+				if(o > 1.0) {
+					o = 1.0;
+				}
+			} else if(o > 1.0) {
+				o = 1.0;
+			}
+			o = 2.0 * System.Math.Acos(o);
+			return Weight * 0.5 * (d*d + o*o);
+		}
+
+		public override bool CheckConvergence(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			double d = System.Math.Sqrt((TPX-WPX)*(TPX-WPX) + (TPY-WPY)*(TPY-WPY) + (TPZ-WPZ)*(TPZ-WPZ));
+			double o = WRX*TRX + WRY*TRY + WRZ*TRZ + WRW*TRW;
+			if(o < 0.0) {
+				o = -o;
+				if(o > 1.0) {
+					o = 1.0;
+				}
+			} else if(o > 1.0) {
+				o = 1.0;
+			}
+			o = Utility.Rad2Deg * 2.0 * System.Math.Acos(o);
+			return d <= MaximumError && o <= MaximumError;
+		}
+
+		public override double ComputeValue(double WPX, double WPY, double WPZ, double WRX, double WRY, double WRZ, double WRW, Model.Node node, double[] configuration) {
+			return 0.0;
+		}
+
+		public void SetTargetTransform(Transform target) {
+			Target = target;
+			if(Target != null) {
+				SetTargetPosition(Target.position);
+				SetTargetRotation(Target.rotation);
+			}
+		}
+
+		public Transform GetTargetTransform() {
+			return Target;
+		}
+
+		public void SetTargetPosition(Vector3 position) {
+			TPX = position.x;
+			TPY = position.y;
+			TPZ = position.z;
+		}
+
+		public Vector3 GetTargetPosition() {
+			return new Vector3((float)TPX, (float)TPY, (float)TPZ);
+		}
+
+		public void SetTargetRotation(Quaternion rotation) {
+			TRX = rotation.x;
+			TRY = rotation.y;
+			TRZ = rotation.z;
+			TRW = rotation.w;
+		}
+
+		public void SetTargetRotation(Vector3 angles) {
+			SetTargetRotation(Quaternion.Euler(angles));
+		}
+
+		public Vector3 GetTargetRotation() {
+			return new Quaternion((float)TRX, (float)TRY, (float)TRZ, (float)TRW).eulerAngles;
+		}
+
+		public void SetMaximumError(double value) {
+			MaximumError = value;
+		}
+
+		public double GetMaximumError() {
+			return MaximumError;
+		}
+
+		public void SetNormal(Vector3 normal) {
+			Normal = normal;
+		}
+
+		public Vector3 GetNormal() {
+			return Normal;
+		}
+
+		public void SetSensitivity(float sensitivity) {
+			Sensitivity = Mathf.Clamp(sensitivity, 0f, 1f);
+		}
+
+		public float GetSensitivity() {
+			return Sensitivity;
+		}
+
+		public void SetLength(float length) {
+			Length = length;
+		}
+
+		public float GetLength() {
+			return Length;
+		}
+		
+	}
+
+}

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