Rework diapason with octo arms

Assets/Scripts/OctoIkArmsImproved.cs

@@ -27,6 +27,9 @@ public class OctoIkArmsImproved : MonoBehaviour
         public OctoIkLimb Arm;
         public Vector3 RotationOffset;
         public RaycastRig[] Raycasts;
+        
+        [Header("Equipment System")]
+        public ArmEquipment Equipment;
 
         [HideInInspector] public Vector3 TargetOriginPos;
         [HideInInspector] public Quaternion TargetOriginRot;
@@ -47,6 +50,27 @@ public class OctoIkArmsImproved : MonoBehaviour
                     PoleOriginPos = Arm.Pole.localPosition;
                 }
             }
+            
+            if (Equipment != null)
+            {
+                Equipment.Initialize();
+            }
+        }
+        
+        public bool IsEnvironmentalIkActive()
+        {
+            if (Equipment == null)
+                return Enabled;
+            
+            return Enabled && Equipment.State == ArmState.Environmental;
+        }
+        
+        public float GetEnvironmentalIkWeight()
+        {
+            if (Equipment == null)
+                return 1f;
+            
+            return Equipment.IkWeight;
         }
     }
 
@@ -148,6 +172,19 @@ public class OctoIkArmsImproved : MonoBehaviour
         PerformRaycasts();
         FindNearestHits();
         UpdateArmPositions();
+        UpdateEquippedPoses();
+    }
+    
+    private void UpdateEquippedPoses()
+    {
+        for (int i = 0; i < _arms.Length; i++)
+        {
+            ArmRig armRig = _arms[i];
+            if (armRig.Equipment != null)
+            {
+                armRig.Equipment.UpdateEquippedPose();
+            }
+        }
     }
 
     // Cast all configured raycasts and store results
@@ -157,7 +194,7 @@ public class OctoIkArmsImproved : MonoBehaviour
         {
             ArmRig armRig = _arms[i];
 
-            if (!armRig.Enabled || armRig.Raycasts == null)
+            if (!armRig.IsEnvironmentalIkActive() || armRig.Raycasts == null)
                 continue;
 
             for (int u = 0; u < armRig.Raycasts.Length; u++)
@@ -247,24 +284,23 @@ public class OctoIkArmsImproved : MonoBehaviour
         {
             ArmRig armRig = _arms[i];
             if (armRig.Arm == null || armRig.Arm.Target == null) continue;
+            
+            if (!armRig.IsEnvironmentalIkActive())
+                continue;
 
             RaycastInfos raycastInfos = _nearestHitRaycasts[i];
 
-            // Default to origin position/rotation
             Vector3 targetPos = armRig.TargetOriginPos;
             Quaternion targetRot = armRig.TargetOriginRot;
 
             bool shouldStick = false;
 
-            // Check if we should stick to surface
             if (raycastInfos.HasHit && _noHitFrameCount[i] < _settings.StabilityFrames)
             {
                 if (IsValidSurface(raycastInfos, i))
                 {
-                    // Calculate target position on surface
                     targetPos = armRig.Arm.Target.parent.InverseTransformPoint(raycastInfos.Position);
                     
-                    // Calculate target rotation aligned to surface
                     targetRot = Quaternion.LookRotation(
                         -armRig.Arm.Target.parent.InverseTransformDirection(raycastInfos.Normal),
                         transform.up
@@ -274,12 +310,10 @@ public class OctoIkArmsImproved : MonoBehaviour
                 }
             }
 
-            // Smooth stickiness transition
             float targetStickiness = shouldStick ? 1f : 0f;
             float stickinessSpeed = shouldStick ? _settings.StickSpeed : _settings.ReleaseSpeed;
             _currentStickiness[i] = Mathf.MoveTowards(_currentStickiness[i], targetStickiness, stickinessSpeed * Time.deltaTime);
 
-            // Apply distance-based stickiness factor (hysteresis)
             float distanceFactor = 0f;
             if (shouldStick && raycastInfos.HasHit)
             {
@@ -287,17 +321,14 @@ public class OctoIkArmsImproved : MonoBehaviour
                 distanceFactor = Mathf.Clamp01(distanceFactor);
             }
 
-            float finalStickiness = _currentStickiness[i] * distanceFactor;
+            float finalStickiness = _currentStickiness[i] * distanceFactor * armRig.GetEnvironmentalIkWeight();
 
-            // Calculate interpolation speeds
             float posSpeed = Mathf.Lerp(_settings.ReleaseSpeed, _settings.StickSpeed, finalStickiness);
             float rotSpeed = _settings.RotationSpeed * Mathf.Deg2Rad;
 
-            // Exponential smoothing for natural movement
             float tPos = 1f - Mathf.Exp(-posSpeed * Time.deltaTime);
             float tRot = 1f - Mathf.Exp(-rotSpeed * Time.deltaTime);
 
-            // Apply smooth interpolation
             armRig.Arm.Target.localPosition = Vector3.Lerp(armRig.Arm.Target.localPosition, targetPos, tPos);
             armRig.Arm.Target.localRotation = Quaternion.Slerp(armRig.Arm.Target.localRotation, targetRot, tRot);
         }
@@ -327,4 +358,66 @@ public class OctoIkArmsImproved : MonoBehaviour
 
         return true;
     }
+    
+    public void EquipObjectOnArm(int armIndex, GameObject objectToEquip, System.Action onComplete = null)
+    {
+        if (armIndex < 0 || armIndex >= _arms.Length)
+        {
+            Debug.LogError($"[OctoIkArms] Invalid arm index: {armIndex}");
+            return;
+        }
+        
+        ArmRig armRig = _arms[armIndex];
+        
+        if (armRig.Equipment == null)
+        {
+            Debug.LogError($"[OctoIkArms] Arm {armIndex} has no Equipment system configured!");
+            return;
+        }
+        
+        armRig.Equipment.StartTransitionToEquipped(objectToEquip, onComplete);
+    }
+    
+    public void UnequipObjectFromArm(int armIndex, System.Action onComplete = null)
+    {
+        if (armIndex < 0 || armIndex >= _arms.Length)
+        {
+            Debug.LogError($"[OctoIkArms] Invalid arm index: {armIndex}");
+            return;
+        }
+        
+        ArmRig armRig = _arms[armIndex];
+        
+        if (armRig.Equipment == null)
+        {
+            Debug.LogError($"[OctoIkArms] Arm {armIndex} has no Equipment system configured!");
+            return;
+        }
+        
+        armRig.Equipment.StartTransitionToEnvironmental(onComplete);
+    }
+    
+    public ArmState GetArmState(int armIndex)
+    {
+        if (armIndex < 0 || armIndex >= _arms.Length)
+            return ArmState.Environmental;
+        
+        if (_arms[armIndex].Equipment == null)
+            return ArmState.Environmental;
+        
+        return _arms[armIndex].Equipment.State;
+    }
+    
+    public bool IsArmInEnvironmentalMode(int armIndex)
+    {
+        return GetArmState(armIndex) == ArmState.Environmental;
+    }
+    
+    public ArmEquipment GetArmEquipment(int armIndex)
+    {
+        if (armIndex < 0 || armIndex >= _arms.Length)
+            return null;
+        
+        return _arms[armIndex].Equipment;
+    }
 }