public void WritePose(IKSolverFullBody solver, bool fullBody)
{
if (weight <= 0f)
{
return;
}
// Swing the parent bone to look at the first node's position
if (fullBody)
{
if (parentBone != null)
{
boneMapParent.Swing(solver.GetNode(boneMap1.chainIndex, boneMap1.nodeIndex).solverPosition, weight);
//boneMapParent.Swing(boneMap1.node.solverPosition, weight);
}
// Fix the first bone to it's node
boneMap1.FixToNode(solver, weight);
}
// Rotate the 2 first bones to the plane points
boneMap1.RotateToPlane(solver, weight);
boneMap2.RotateToPlane(solver, weight);
// Rotate the third bone to the rotation it had before solving
boneMap3.RotateToMaintain(maintainRotationWeight * weight * solver.IKPositionWeight);
// Rotate the third bone to the effector rotation
boneMap3.RotateToEffector(solver, weight);
}
public void WritePose()
{
float w = solver.GetIKPositionWeight();
if (w <= 0)
{
return;
}
// Swing the parent bone to look at the first node's position
if (parentBone != null)
{
boneMapParent.Swing(boneMap1.node.solverPosition, w * weight);
}
// Fix the first bone to it's node
boneMap1.FixToNode(w * weight);
// Rotate the 2 first bones to the plane points
LocalSlerp(boneMap1, w);
LocalSlerp(boneMap2, w);
// Rotate the third bone to the rotation it had before solving
boneMap3.RotateToMaintain(w * maintainRotationWeight * weight);
// Rotate the third bone to the effector rotation
boneMap3.RotateToEffector(w * weight);
}