// Token: 0x060034AD RID: 13485 RVA: 0x000E5F50 File Offset: 0x000E4150 public static Vector3 GetConeNextPoint(Core.Joint joint, Vector3 obj) { if (GenericMath.ConeBounded(joint, obj)) { return(obj); } Vector3 pos = joint.pos; Vector3 v = obj - pos; Vector3 vector = GenericMath.TransformVector(joint.axis, joint.rot); float num = GenericMath.VectorsAngle(v, pos + vector); float num2 = Mathf.Cos(num * 0.017453292f) * v.magnitude; float d = num2 * (Mathf.Tan(num * 0.017453292f) - Mathf.Tan(joint.maxAngle * 0.017453292f)); Vector3 vector2 = joint.joint.position + GenericMath.TransformVector(vector * num2, joint.rot) - obj; float f = Vector3.Dot(joint.joint.position + GenericMath.TransformVector(vector, joint.rot), v.normalized); return((vector2.normalized * d + obj) * Mathf.Clamp01(Mathf.Sign(f)) + pos * Mathf.Clamp01(-Mathf.Sign(f))); }
/// <summary> /// Process a 2 bones chain with a specific "epsilon" value /// </summary> /// <param name="chain"></param> /// <param name="eps">a specific value, not bounded to the global Epsilon</param> public static void Process(Core.Chain chain, float eps) { if (chain.Initiated == false) { chain.InitiateJoints(); } if (chain.Joints.Count != 3) { Debug.LogError("The Analytical Solver only works with 3-joints(2 bones) chain configurations"); return; } Core.Joint A = chain.Joints[0]; Core.Joint B = chain.Joints[1]; Core.Joint C = chain.Joints[2]; Vector3 T = chain.GetIKTarget(); Vector3 AB = Vector3.Normalize(B.joint.position - A.joint.position); Vector3 AC = Vector3.Normalize(C.joint.position - A.joint.position); Vector3 CB = Vector3.Normalize(B.joint.position - C.joint.position); Vector3 TA = A.joint.position - T; float l_ab = A.length; float l_cb = B.length; float l_at = GenericMath.Clamp(TA.magnitude, eps, l_ab + l_cb - eps); float kneeCurrent = GenericMath.VectorsAngle(AB, CB); float kneeTarget = GenericMath.CosineRule(A.length, B.length, l_at); float kneeDelta = kneeTarget - kneeCurrent; Vector3 axis = GenericMath.TransformVector(Vector3.Normalize(Vector3.Cross(AC, AB)), Quaternion.Inverse(B.joint.rotation)); Quaternion q1 = Quaternion.AngleAxis(kneeDelta, axis); Quaternion knee = Quaternion.Lerp(B.joint.rotation, GenericMath.ApplyQuaternion(B.joint.rotation, q1), chain.Weight); B.joint.rotation = knee; Quaternion q2 = Quaternion.FromToRotation(A.joint.position - C.joint.position, TA); Quaternion thigh = Quaternion.Lerp(A.joint.rotation, GenericMath.ApplyQuaternion(q2, A.joint.rotation), chain.Weight); A.joint.rotation = thigh; }
// Token: 0x060034A8 RID: 13480 RVA: 0x000E5E2C File Offset: 0x000E402C public static Quaternion RotateFromTo(Vector3 _source, Vector3 _target) { _source.Normalize(); _target.Normalize(); return(Quaternion.Inverse(GenericMath.QuaternionFromAngleAxis(GenericMath.VectorsAngle(_source, _target), Vector3.Cross(_source, _target).normalized))); }
// Token: 0x060034AC RID: 13484 RVA: 0x000E5F08 File Offset: 0x000E4108 public static bool ConeBounded(Core.Joint joint, Vector3 obj) { float num = GenericMath.VectorsAngle(obj - joint.pos, joint.pos + GenericMath.TransformVector(joint.axis, joint.rot)); return(joint.maxAngle >= num); }