private float PerformOneIteration(Chain chain, Transform target)
{
int boneCount = chain.BoneCount;
// FORWARD STEP
chain.AttachBoneToChildPos(boneCount - 1, target.position, false);
int i = boneCount - 2;
while (i >= 0)
{
chain.AttachBoneToChild(i--, false);
// TODO: Constraints
}
//BACKWARD STEP
chain.AttachBoneToParentPos(0, chain.OriginalRootPos, false);
i = 1;
while (i < boneCount)
{
chain.AttachBoneToParent(i++, false);
// TODO: Constraints
}
return(Vector3.Distance(chain.EndEffector.Position, target.position));
}
private static void BackwardStep(Chain chain, Transform target, int startJoint, Vector3 startJointPos)
{
chain.AttachBoneToParentPos(startJoint, startJointPos, false);
int i = startJoint + 1;
while (i < chain.BoneCount)
{
chain.AttachBoneToParent(i, false);
i++;
}
}
private void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
show = !show;
}
if (Input.GetKeyDown(KeyCode.I))
{
// Apply IK
Chain c = visualizer.GetChain();
c.GetBone(1).Move(new Vector3(1, 0, 0));
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha1))
{
Chain c = visualizer.GetChain();
c.AttachBoneToParent(1);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha2))
{
Chain c = visualizer.GetChain();
c.AttachBoneToParent(1, false);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha3))
{
Chain c = visualizer.GetChain();
c.AttachBoneToChild(0);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha4))
{
Chain c = visualizer.GetChain();
c.AttachBoneToChild(0, false);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.F))
{
if (target == null)
{
return;
}
Chain c = visualizer.GetChain();
Chain_FABRIK.Solve(c, target);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.A))
{
applyTransforms = !applyTransforms;
}
if (show)
{
visualizer.Show();
}
else
{
visualizer.Hide();
}
}
