/// <summary>
/// Solve the IK for a chain
/// </summary>
/// <param name="chain"></param>
public static bool Process(Core.Chain chain)
{
if (chain.Joints.Count <= 0)
{
return(false);
}
chain.MapVirtualJoints();
for (int j = 0; j < chain.Iterations; j++)
{
for (int i = chain.Joints.Count - 1; i >= 0; i--)
{
float _weight = chain.Weight * chain.Joints[i].weight; //relative weight
//direction vectors
Vector3 _v0 = chain.GetIKTarget() - chain.Joints[i].joint.position;
Vector3 _v1 = chain.Joints[chain.Joints.Count - 1].joint.position - chain.Joints[i].joint.position;
//Weight
Quaternion _sourceRotation = chain.Joints[i].joint.rotation;
Quaternion _targetRotation = Quaternion.Lerp(Quaternion.identity, GenericMath.RotateFromTo(_v0, _v1), _weight);
//Rotation Math
chain.Joints[i].rot = Quaternion.Lerp(_sourceRotation, GenericMath.ApplyQuaternion(_targetRotation, _sourceRotation), _weight);
chain.Joints[i].ApplyVirtualMap(false, true);
chain.Joints[i].ApplyRestrictions();
}
}
return(true);
}
// Token: 0x0600274F RID: 10063 RVA: 0x000B62EC File Offset: 0x000B44EC
public static bool Process(Core.Chain chain)
{
if (chain.joints.Count <= 0)
{
return(false);
}
if (!chain.initiated)
{
chain.InitiateJoints();
}
chain.MapVirtualJoints();
for (int i = 0; i < chain.iterations; i++)
{
FastReachSolver.SolveInward(chain);
FastReachSolver.SolveOutward(chain);
}
FastReachSolver.MapSolverOutput(chain);
return(true);
}
// Token: 0x0600274B RID: 10059 RVA: 0x000B60A8 File Offset: 0x000B42A8
public static bool Process(Core.Chain chain)
{
if (chain.joints.Count <= 0)
{
return(false);
}
chain.MapVirtualJoints();
for (int i = 0; i < chain.iterations; i++)
{
for (int j = chain.joints.Count - 1; j >= 0; j--)
{
float t = chain.weight * chain.joints[j].weight;
Vector3 source = chain.GetIKtarget() - chain.joints[j].joint.position;
Vector3 target = chain.joints[chain.joints.Count - 1].joint.position - chain.joints[j].joint.position;
Quaternion rotation = chain.joints[j].joint.rotation;
Quaternion qA = Quaternion.Lerp(Quaternion.identity, GenericMath.RotateFromTo(source, target), t);
chain.joints[j].rot = Quaternion.Lerp(rotation, GenericMath.ApplyQuaternion(qA, rotation), t);
chain.joints[j].ApplyVirtualMap(false, true);
chain.joints[j].ApplyRestrictions();
}
}
return(true);
}
