Final IK

Final IK Integration

Final IK is an asset on the Asset Store. The integration of Final IK with Emerald AI gives AI the ability to have foot and leg Inverse Kinematics. This gives more accurate foot placement so an AI's feet always remain evenly and aligned with the ground.

Important: Ensure you have a fully set up and working AI through Emerald AI before proceeding.

First, you will need to assign a Full Body Biped IK component to your already set up Emerald AI agent.

Important: You need to uncheck Fixed Transforms. Not doing so will cause issues with Emerald AI.

Next, create a new GameObject within your AI and name it. For this example, this GameObject is named Feet IK.

Assign a Grounder Full Body Biped component to the Feet IK GameObject. Assign the layers that your project uses for the ground to the Layers Layer Mask setting.

Important: Not properly assigning the Layers to this component can cause Final IK not to work properly.

Lastly, assign the provided EmeraldFinalIKSupport script to your AI object (the one with all the Emerald AI components). This adds support for Final IK by disabling Emerald AI's alignment feature and disabling the Final IK components on death.

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

namespace EmeraldAI
{
    /// <summary>
    /// Adds support for Final IK by disabling Emerald AI's alignment feature and disabling the Final IK components on death.
    /// </summary>
    public class EmeraldFinalIKSupport : MonoBehaviour
    {
        EmeraldSystem EmeraldComponent;

        void Start()
        {
            EmeraldComponent = GetComponent<EmeraldSystem>();
            EmeraldComponent.MovementComponent.AlignAIWithGround = YesOrNo.No;
            EmeraldComponent.HealthComponent.OnDeath += DisableFinalIKComponents;
        }

        void DisableFinalIKComponents()
        {
            GetComponent<RootMotion.FinalIK.FullBodyBipedIK>().enabled = false;
            transform.GetComponentInChildren<RootMotion.FinalIK.GrounderFBBIK>().enabled = false;
        }
    }
}