Unityで関節PositionのみでAnimatorを動かす

SAFullBodyIK

をダウンロード、Unityへ入れる

SAFullBodyIK-master/Scripts/FullBodyIKBehaviourを使いたいHumanoidに張り付け

以下のBoneに使いたいHumanoidの関節を設定

これでHumanoidについているFullBody以下を動かせばHumanoidが動く。
EffectorのElbowやKneeについているPosをチェックするとKneeやElbowも動かせる。

以下、Targetヒューマノイドの動きをPositionベースでまねるスクリプト。

using UnityEngine;
public class AnimationFromPositionWithFbik : MonoBehaviour {
    public Animator target;
    Animator animator;

    // Use this for initialization
    void Start () {
        animator = GetComponent<Animator>();
    }

    // Update is called once per frame
    void Update () {
        this.transform.position = ChangeP(target.transform.position);

        GameObject fullBIK = this.transform.Find("FullBodyIK").gameObject;
        foreach(IKset ik in IKsets)
        {
            fullBIK.transform.Find(ik.getI()).position = ChangeP(target.GetBoneTransform(ik.getB()).position);
        }
    }
    Vector3 ChangeP(Vector3 v)
    {
        return new Vector3(v.x -0.5f, v.y, v.z);
    }
    struct IKset
    {
        HumanBodyBones bone;
        string IKbone;
        public string getI(){ return IKbone; }
        public HumanBodyBones getB() { return bone; }
        public IKset(HumanBodyBones b, string ik) { bone = b; IKbone = ik; }
    }

    IKset[] IKsets = new IKset[]
    {
        new IKset(HumanBodyBones.Hips,"Hips"),
        new IKset(HumanBodyBones.RightLowerLeg,"RightKnee"),
        new IKset(HumanBodyBones.RightFoot,"RightFoot"),
        new IKset(HumanBodyBones.LeftLowerLeg,"LeftKnee"),
        new IKset(HumanBodyBones.LeftFoot,"LeftFoot"),
        new IKset(HumanBodyBones.Neck,"Hips/Neck"),
        new IKset(HumanBodyBones.Head,"Hips/Neck/Head"),
        new IKset(HumanBodyBones.LeftShoulder,"Hips/LeftArm"),
        new IKset(HumanBodyBones.LeftLowerArm,"Hips/LeftElbow"),
        new IKset(HumanBodyBones.LeftHand,"Hips/LeftWrist"),
        new IKset(HumanBodyBones.RightShoulder,"Hips/RightArm"),
        new IKset(HumanBodyBones.RightLowerArm,"Hips/RightElbow"),
        new IKset(HumanBodyBones.RightHand,"Hips/RightWrist"),

    };

}

似た動きはするが精度はまちまち

参考

http://onoty3d.hatenablog.com/entry/2015/06/05/194010
https://qiita.com/keel/items/0d64167850566586d22a