protected virtual void ReadPose()
{
for (int i = 0; i < bendConstraints.Length; i++)
{
bendConstraints[i].LimitBend(IKPositionWeight);
}
// Presolve effectors, apply effector offset to the nodes
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].ResetOffset();
}
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].OnPreSolve();
}
// Set solver positions to match the current bone positions of the biped
for (int i = 0; i < chain.Length; i++)
{
chain[i].ReadPose(chain);
}
// IKMapping
spineMapping.ReadPose();
for (int i = 0; i < boneMappings.Length; i++)
{
boneMappings[i].ReadPose();
}
for (int i = 0; i < limbMappings.Length; i++)
{
limbMappings[i].ReadPose();
}
}
protected virtual void ReadPose()
{
// Presolve effectors, apply effector offset to the nodes
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].ResetOffset();
}
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].OnPreSolve();
}
// Set solver positions to match the current bone positions of the biped
chain.ReadPose();
// IKMapping
spineMapping.ReadPose();
for (int i = 0; i < boneMappings.Length; i++)
{
boneMappings[i].ReadPose();
}
for (int i = 0; i < limbMappings.Length; i++)
{
limbMappings[i].ReadPose();
}
}
protected virtual void ReadPose()
{
// Making sure the limbs are not inverted
// 确保肢体没有被翻转, 约束其在一定范围内
for (int i = 0; i < chain.Length; i++)
{
if (chain[i].bendConstraint.initiated)
{
chain[i].bendConstraint.LimitBend(IKPositionWeight, GetEffector(chain[i].nodes[2].transform).positionWeight);
}
}
// Presolve effectors, apply effector offset to the nodes
// 清零之间计算好的 Node 的 offset
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].ResetOffset(this);
}
// 将上一帧所产生的 effctor 的偏移值送给 node的offset
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].OnPreSolve(this);
}
// Set solver positions to match the current bone positions of the biped
// 将上一次 累计的offset置入到 chain 各个骨骼的solverPosition中去
for (int i = 0; i < chain.Length; i++)
{
chain[i].ReadPose(this, iterations > 0);
}
// IKMapping
if (iterations > 0)
{
spineMapping.ReadPose();
for (int i = 0; i < boneMappings.Length; i++)
{
boneMappings[i].ReadPose();
}
}
for (int i = 0; i < limbMappings.Length; i++)
{
limbMappings[i].ReadPose();
}
}
protected virtual void ReadPose()
{
// Making sure the limbs are not inverted
for (int i = 0; i < chain.Length; i++)
{
if (chain[i].bendConstraint.initiated)
{
chain[i].bendConstraint.LimitBend(IKPositionWeight, GetEffector(chain[i].nodes[2].transform).positionWeight);
}
}
// Presolve effectors, apply effector offset to the nodes
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].ResetOffset(this);
}
for (int i = 0; i < effectors.Length; i++)
{
effectors[i].OnPreSolve(this);
}
// Set solver positions to match the current bone positions of the biped
for (int i = 0; i < chain.Length; i++)
{
chain[i].ReadPose(this, iterations > 0);
}
// IKMapping
if (iterations > 0)
{
spineMapping.ReadPose();
for (int i = 0; i < boneMappings.Length; i++)
{
boneMappings[i].ReadPose();
}
}
for (int i = 0; i < limbMappings.Length; i++)
{
limbMappings[i].ReadPose();
}
}