public IK()
{
for (int i = 0; i < _transforms.Length; i++)
{
_transforms[i] = new IKTransform();
}
}
public IKBone(Transform transform, float weight)
{
Transform = transform;
Sibling = null;
Weight = weight;
Link = null;
}
private void findBone(IKTransform transform, ref int last)
{
for (int i = last - 1; i >= 0; i--)
{
if (transform.Link == Bones[i].Transform)
{
Bones[i].Link = transform;
last = i;
break;
}
}
}
public void Reset(Transform link)
{
Change = Quaternion.identity;
Link = link;
SavedPosition = Link.position;
SavedRotation = Link.rotation;
SavedForward = Link.forward;
if (link.parent != null)
{
SavedLocalPosition = Quaternion.Inverse(link.parent.rotation) * (link.parent.TransformPoint(link.localPosition) - link.parent.position);
}
Parent = null;
Child = null;
}
private bool prepareTransforms()
{
if (Bones.Length == 0 || Target == null)
{
return(false);
}
for (int i = 0; i < Bones.Length; i++)
{
Bones[i].Link = null;
}
var transformIndex = 0;
_target = _transforms[transformIndex++];
_target.Reset(Target);
int lastBone = Bones.Length;
findBone(_target, ref lastBone);
var transform = Target.parent;
var current = _target;
while (transform != null && lastBone > 0)
{
var parentNode = _transforms[transformIndex++];
parentNode.Reset(transform);
findBone(parentNode, ref lastBone);
current.Parent = parentNode;
parentNode.Child = current;
transform = transform.parent;
current = parentNode;
}
current.Calc();
return(true);
}
