Beispiel #1
0
        private void SetDirtySolversAffectedByTransform(Transform transform)
        {
            foreach (Solver2D solver in m_IKSolvers)
            {
                if (solver.isValid)
                {
                    for (int i = 0; i < solver.chainCount; ++i)
                    {
                        var chain = solver.GetChain(i);

                        if (chain.effector == null)
                        {
                            continue;
                        }

                        if (!(IKUtility.IsDescendentOf(chain.effector, transform) && IKUtility.IsDescendentOf(chain.rootTransform, transform)) &&
                            (chain.effector == transform || IKUtility.IsDescendentOf(chain.effector, transform) || IKUtility.IsDescendentOf(chain.target, transform)))
                        {
                            SetSolverDirty(solver);
                            break;
                        }
                    }
                }
            }
        }
Beispiel #2
0
        private void SetDirtyUnderHierarchy(Transform hierarchyRoot)
        {
            if (hierarchyRoot == null)
            {
                return;
            }

            foreach (Solver2D solver in m_IKSolvers)
            {
                if (solver.isValid)
                {
                    for (int i = 0; i < solver.chainCount; ++i)
                    {
                        var chain = solver.GetChain(i);

                        if (chain.effector == null)
                        {
                            continue;
                        }

                        if (hierarchyRoot == chain.effector ||
                            IKUtility.IsDescendentOf(chain.effector, hierarchyRoot) ||
                            IKUtility.IsDescendentOf(chain.target, hierarchyRoot))
                        {
                            SetSolverDirty(solver);
                            break;
                        }
                    }
                }
            }
        }
Beispiel #3
0
    public static IEnumerable <Quaternion[]> InverseKinematicsIterator(Bone[] bones, Vector3 position, float step, float delta, int iteration)
    {
        var rotations = new Quaternion[bones.Length];

        for (var i = 0; i < bones.Length; i++)
        {
            rotations[i] = bones[i].transform.localRotation;
        }
        var dFK = new float[bones.Length * 4];

        for (var iterate = 0; iterate < iteration; iterate++)
        {
            for (var i = 0; i < bones.Length * 4; i++)
            {
                dFK[i] = IKUtility.FKDistanceDerivate(bones, rotations, position, i, delta);
            }
            for (var i = 0; i < bones.Length * 4; i++)
            {
                int idxBone       = i / 4;
                int idxQuaternion = i % 4;
                rotations[idxBone][idxQuaternion] -= step * dFK[i];
            }
            yield return(rotations);
        }
    }
        public void GetChainCountForOtherChildGO_IsCorrect()
        {
            var ikGO   = new GameObject();
            var solver = ikGO.AddComponent <FabrikSolver2D>();
            var chain  = solver.GetChain(0);

            chain.target = otherChildGO.transform;

            Assert.AreEqual(2, IKUtility.GetMaxChainCount(chain));

            UnityEngine.Object.Destroy(ikGO);
        }
Beispiel #5
0
        public override void OnInspectorGUI()
        {
            IKChain2D chain = m_Solver.GetChain(0);

            serializedObject.Update();
            EditorGUILayout.PropertyField(m_EffectorProperty, Contents.effectorLabel);
            EditorGUILayout.PropertyField(m_TargetProperty, Contents.targetLabel);
            EditorGUILayout.IntSlider(m_TransformCountProperty, 0, IKUtility.GetMaxChainCount(chain), Contents.chainLengthLabel);
            EditorGUILayout.PropertyField(m_IterationsProperty, Contents.iterationsLabel);
            EditorGUILayout.PropertyField(m_ToleranceProperty, Contents.toleranceLabel);

            DrawCommonSolverInspector();

            serializedObject.ApplyModifiedProperties();
        }
        public void RootGO_IsNotDescendentOfChildGO()
        {
            var result = IKUtility.IsDescendentOf(rootGO.transform, childGO.transform);

            Assert.AreEqual(false, result);
        }
        public void GrandChildGO_IsNotDescendentOfOtherChildGO()
        {
            var result = IKUtility.IsDescendentOf(grandChildGO.transform, otherChildGO.transform);

            Assert.AreEqual(false, result);
        }
        public void OtherChildGO_IsDescendentOfOtherGO()
        {
            var result = IKUtility.IsDescendentOf(otherChildGO.transform, otherGO.transform);

            Assert.AreEqual(true, result);
        }
        public void GrandChildGO_IsDescendentOfRootGO()
        {
            var result = IKUtility.IsDescendentOf(grandChildGO.transform, rootGO.transform);

            Assert.AreEqual(true, result);
        }
        public void RootGO_HasNoAncestors()
        {
            var result = IKUtility.GetAncestorCount(rootGO.transform);

            Assert.AreEqual(0, result);
        }
        public void ChildGO_HasOneAncestor()
        {
            var result = IKUtility.GetAncestorCount(childGO.transform);

            Assert.AreEqual(1, result);
        }
        public void GrandChildGO_HasTwoAncestors()
        {
            var result = IKUtility.GetAncestorCount(grandChildGO.transform);

            Assert.AreEqual(2, result);
        }
Beispiel #13
0
 protected override void DoInitialize()
 {
     chain.transformCount = chain.effector == null || IKUtility.GetAncestorCount(chain.effector) < 1 ? 0 : 2;
     base.DoInitialize();
 }