public void Init()
{
Segments = new List <Tentacle>();
if (GetComponent <Tentacle>() == null)
{
Debug.LogError($"Need a root segment on {gameObject.name} IKController");
}
GetIkSegmentsRecursivelyFromChildren(gameObject);
GetApproximateLengthOfLeg();
MirrorLimbTransformHierarchyAndInit();
InitTargetExtents();
void GetIkSegmentsRecursivelyFromChildren(GameObject segmentHolder)
{
var segs = segmentHolder.GetComponents <Tentacle>();
if (segs.Length > 2)
{
Debug.LogError($"There are {segs.Length} IKSegments at {segmentHolder} when there should only be 1!");
}
var seg = segs[0];
Segments.Add(seg);
for (int i = 0; i < segmentHolder.transform.childCount; i++)
{
var child = segmentHolder.transform.GetChild(i);
if (child.GetComponent <Tentacle>() != null)
{
GetIkSegmentsRecursivelyFromChildren(child.gameObject);
}
}
}
void GetApproximateLengthOfLeg()
{
Reach = 0;
for (int i = 0; i < Segments.Count; i++)
{
Reach += Segments[i].Reach;
}
}
void InitTargetExtents()
{
_targetExtentCenter = _targetExtentCenter.normalized;
var plane = new Plane(_targetExtentCenter, 0);
}
void MirrorLimbTransformHierarchyAndInit()
{
var IKSegmentTargets = new IKSegmentTarget[Segments.Count];
for (int i = 0; i < Segments.Count; i++)
{
IKSegmentTargets[i] = new GameObject($"segment_mirror: {i}").AddComponent <IKSegmentTarget>();
CopyPasteTransforms(Segments[i].transform, IKSegmentTargets[i].transform);
//set transform
if (i == 0)
{
IKSegmentTargets[i].transform.SetParent(transform.parent);
}
else
{
IKSegmentTargets[i].transform.SetParent(IKSegmentTargets[i - 1].transform);
}
}
for (int i = 0; i < Segments.Count; i++)
{
//segment end
if (i != Segments.Count - 1)
{
IKSegmentTargets[i].SegmentEnd = IKSegmentTargets[i + 1].transform;
}
else
{
var finalTip = new GameObject("segment_tip_tranform").transform;
finalTip.SetParent(IKSegmentTargets[i].transform);
CopyPasteTransforms(Segments[i].TipTransform, finalTip);
IKSegmentTargets[i].SegmentEnd = finalTip;
}
Segments[i].Init(IKSegmentTargets[i]);
}
void CopyPasteTransforms(Transform copyFrom, Transform pasteOnto)
{
pasteOnto.transform.position = copyFrom.transform.position;
pasteOnto.transform.rotation = copyFrom.transform.rotation;
pasteOnto.transform.localScale = copyFrom.transform.localScale;
}
}
}
public void Init(IKSegmentTarget iktarget)
{
_localTPoseRotation = transform.localRotation;
IKTarget = iktarget;
}
