public void RotateTo(Vector3 position)
{
if (this.pivot == null)
{
return;
}
if (this.pivot != this.lastPivot)
{
this.defaultLocalRotation = this.pivot.localRotation;
this.lastPivot = this.pivot;
}
this.pivot.localRotation = this.defaultLocalRotation;
if (this.twistWeight > 0f)
{
Vector3 fromDirection = base.transform.position - this.pivot.position;
Vector3 vector = this.pivot.rotation * this.twistAxis;
Vector3 vector2 = vector;
Vector3.OrthoNormalize(ref vector2, ref fromDirection);
vector2 = vector;
Vector3 toDirection = position - this.pivot.position;
Vector3.OrthoNormalize(ref vector2, ref toDirection);
Quaternion b = QuaTools.FromToAroundAxis(fromDirection, toDirection, vector);
this.pivot.rotation = Quaternion.Lerp(Quaternion.identity, b, this.twistWeight) * this.pivot.rotation;
}
if (this.swingWeight > 0f)
{
Quaternion b2 = Quaternion.FromToRotation(base.transform.position - this.pivot.position, position - this.pivot.position);
this.pivot.rotation = Quaternion.Lerp(Quaternion.identity, b2, this.swingWeight) * this.pivot.rotation;
}
}
/*
* Apply the bend constraint
* */
public void Solve()
{
weight = Mathf.Clamp(weight, 0f, 1f);
// Get the direction to node2 ortho-normalized to the chain direction
Vector3 directionTangent = OrthoToLimb(rotationOffset * OrthoToLimb(GetDir()));
Vector3 node2Tangent = OrthoToLimb(node2.solverPosition - node1.solverPosition);
// Rotation from the current position to the desired position
Quaternion fromTo = QuaTools.FromToAroundAxis(node2Tangent, directionTangent, (node3.solverPosition - node1.solverPosition).normalized);
// Repositioning node2
Vector3 to2 = node2.solverPosition - node1.solverPosition;
node2.solverPosition = node1.solverPosition + fromTo * to2;
}
// Rotate this target towards a position
public void RotateTo(Vector3 position)
{
if (pivot == null)
{
return;
}
if (pivot != lastPivot)
{
defaultLocalRotation = pivot.localRotation;
lastPivot = pivot;
}
// Rotate to the default local rotation
pivot.localRotation = defaultLocalRotation;
// Twisting around the twist axis
if (twistWeight > 0f)
{
Vector3 targetTangent = transform.position - pivot.position;
Vector3 n = pivot.rotation * twistAxis;
Vector3 normal = n;
Vector3.OrthoNormalize(ref normal, ref targetTangent);
normal = n;
Vector3 direction = position - pivot.position;
Vector3.OrthoNormalize(ref normal, ref direction);
Quaternion q = QuaTools.FromToAroundAxis(targetTangent, direction, n);
pivot.rotation = Quaternion.Lerp(Quaternion.identity, q, twistWeight) * pivot.rotation;
}
// Swinging freely
if (swingWeight > 0f)
{
Quaternion s = Quaternion.FromToRotation(transform.position - pivot.position, position - pivot.position);
pivot.rotation = Quaternion.Lerp(Quaternion.identity, s, swingWeight) * pivot.rotation;
}
}
/*
* Apply the bend constraint
* */
public void Solve()
{
weight = Mathf.Clamp(weight, 0f, 1f);
direction = direction.normalized;
Vector3 dir = direction;
dir = rotationOffset * dir;
// Maintaining bend
// Rotating the default bend direction by offset from the initial chain direction
Quaternion f = Quaternion.FromToRotation(node3.transform.position - node1.transform.position, node3.solverPosition - node1.solverPosition);
dir = f * (rotationOffset * bendBoneTransform.rotation * defaultLocalDirection);
// Effector rotation
if (node3.effectorRotationWeight > 0f)
{
// Bend direction according to the effector rotation
Vector3 effectorDirection = -Vector3.Cross(node3.solverPosition - node1.solverPosition, node3.solverRotation * defaultChildDirection);
dir = Vector3.Lerp(dir, effectorDirection, node3.effectorRotationWeight);
}
dir = Vector3.Lerp(dir, direction, weight);
// Get the direction to node2 ortho-normalized to the chain direction
Vector3 directionTangent = OrthoToLimb(dir);
Vector3 node2Tangent = OrthoToLimb(node2.solverPosition - node1.solverPosition);
// Rotation from the current position to the desired position
Quaternion fromTo = QuaTools.FromToAroundAxis(node2Tangent, directionTangent, (node3.solverPosition - node1.solverPosition).normalized);
// Repositioning node2
Vector3 to2 = node2.solverPosition - node1.solverPosition;
node2.solverPosition = node1.solverPosition + fromTo * to2;
}
// Rotate this target towards a position
public void RotateTo(Transform bone)
{
if (pivot == null)
{
return;
}
if (pivot != lastPivot)
{
defaultLocalRotation = pivot.localRotation;
lastPivot = pivot;
}
// Rotate to the default local rotation
pivot.localRotation = defaultLocalRotation;
switch (rotationMode)
{
case RotationMode.TwoDOF:
// Twisting around the twist axis
if (twistWeight > 0f)
{
Vector3 targetTangent = transform.position - pivot.position;
Vector3 n = pivot.rotation * twistAxis;
Vector3 normal = n;
Vector3.OrthoNormalize(ref normal, ref targetTangent);
normal = n;
Vector3 direction = bone.position - pivot.position;
Vector3.OrthoNormalize(ref normal, ref direction);
Quaternion q = QuaTools.FromToAroundAxis(targetTangent, direction, n);
pivot.rotation = Quaternion.Lerp(Quaternion.identity, q, twistWeight) * pivot.rotation;
}
// Swinging freely
if (swingWeight > 0f)
{
Quaternion s = Quaternion.FromToRotation(transform.position - pivot.position, bone.position - pivot.position);
pivot.rotation = Quaternion.Lerp(Quaternion.identity, s, swingWeight) * pivot.rotation;
}
break;
case RotationMode.ThreeDOF:
// Free rotation around all axes
if (threeDOFWeight <= 0f)
{
break;
}
Quaternion fromTo = QuaTools.FromToRotation(transform.rotation, bone.rotation);
if (threeDOFWeight >= 1f)
{
pivot.rotation = fromTo * pivot.rotation;
}
else
{
pivot.rotation = Quaternion.Slerp(Quaternion.identity, fromTo, threeDOFWeight) * pivot.rotation;
}
break;
}
}