Add ultimate xr

Assets/UltimateXR/Runtime/Scripts/Animation/IK/UxrWristTorsionIKSolver.cs

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+// --------------------------------------------------------------------------------------------------------------------
+// <copyright file="UxrWristTorsionIKSolver.cs" company="VRMADA">
+//   Copyright (c) VRMADA, All rights reserved.
+// </copyright>
+// --------------------------------------------------------------------------------------------------------------------
+using UltimateXR.Core;
+using UltimateXR.Core.Math;
+using UltimateXR.Extensions.Unity;
+using UltimateXR.Extensions.Unity.Math;
+using UnityEngine;
+
+namespace UltimateXR.Animation.IK
+{
+    /// <summary>
+    ///     IK solver that distributes a wrist torsion among different bones in a forearm in order to smooth it out.
+    /// </summary>
+    public class UxrWristTorsionIKSolver : UxrIKSolver
+    {
+        #region Inspector Properties/Serialized Fields
+
+        [SerializeField] [Range(0.0f, 1.0f)] private float _amount = 1.0f;
+
+        #endregion
+
+        #region Public Types & Data
+
+        /// <summary>
+        ///     Gets or sets the amount of torsion to apply on this Transform from the source. 0 = no torsion, 1 = full torsion,
+        ///     etc.
+        /// </summary>
+        public float Amount
+        {
+            get => _amount;
+            set => _amount = value;
+        }
+
+        #endregion
+
+        #region Public Overrides UxrIKSolver
+
+        /// <inheritdoc />
+        public override bool Initialized => _initialized;
+
+        #endregion
+
+        #region Unity
+
+        /// <summary>
+        ///     Initializes the component.
+        /// </summary>
+        protected override void Awake()
+        {
+            base.Awake();
+
+            _handSide           = transform.HasParent(Avatar.AvatarRig.LeftArm.UpperArm) ? UxrHandSide.Left : UxrHandSide.Right;
+            _startLocalRotation = transform.localRotation;
+
+            UxrUniversalLocalAxes handUniversalLocalAxes = Avatar.AvatarRigInfo.GetArmInfo(_handSide).HandUniversalLocalAxes;
+            _torsionLocalAxis = transform.InverseTransformDirection(handUniversalLocalAxes.WorldForward).GetClosestAxis();
+
+            _initialized = true;
+        }
+
+        #endregion
+
+        #region Protected Overrides UxrIKSolver
+
+        /// <summary>
+        ///     Solves the Inverse Kinematics.
+        /// </summary>
+        protected override void InternalSolveIK()
+        {
+            float angle = Avatar.AvatarRigInfo.GetArmInfo(_handSide).WristTorsionInfo.WristTorsionAngle;
+            transform.localRotation = _startLocalRotation * Quaternion.AngleAxis(angle * Amount, _torsionLocalAxis);
+        }
+
+        #endregion
+
+        #region Private Types & Data
+
+        private bool        _initialized;
+        private UxrHandSide _handSide;
+        private Quaternion  _startLocalRotation;
+        private Vector3     _torsionLocalAxis;
+
+        #endregion
+    }
+}