/// <summary>
/// Solve for Humanoid
/// </summary>
private void SolveHumanoid()
{
kinematicSolver.SolveBone(head);
switch (solver)
{
case SolverMethod.CCD:
CCD.SolveCCD(rightUpperbody, leftUpperbody);
CCD.SolveCCD(rightLeg);
CCD.SolveCCD(leftLeg);
break;
case SolverMethod.FABRIK:
FABRIK.SolveFABRIK(rightUpperbody);
FABRIK.SolveFABRIK(leftUpperbody);
FABRIK.SolveFABRIK(rightLeg);
FABRIK.SolveFABRIK(leftLeg);
break;
case SolverMethod.Analytical:
analyticalSolver.SolveAnalytically(rightUpperbody, transform.forward, Vector3.down);
analyticalSolver.SolveAnalytically(leftUpperbody, transform.forward, Vector3.down);
analyticalSolver.SolveAnalytically(rightLeg, transform.forward, Vector3.up);
analyticalSolver.SolveAnalytically(leftLeg, transform.forward, Vector3.up);
break;
}
}
/// <summary>
/// Solve the IK chain analytically (joint count must equal to 3)
/// </summary>
/// <param name="_direction"></param>
/// <param name="_axis"></param>
public void SolveChainAnalytically(Vector3 _direction, Vector3 _axis)
{
if (this.joints.Count != 3)
{
return;
}
Analytical.SolveAnalytically(this, _direction, _axis);
}