void Start()
{
base.BuildRightLeg(out rightLeg.joints);
base.BuildLeftLeg(out leftLeg.joints);
//set everything intially to default to avoid any errors that might come
rightLeg.SetIKRotation(rightLeg.GetEndEffector().rotation);
leftLeg.SetIKRotation(leftLeg.GetEndEffector().rotation);
}
/// <summary>
/// Prepare the solver and solve the IK problem analytically with specific axis of rotation
/// (the chain must contain 2 joints, no more and no less)
/// </summary>
/// <param name="_hingeChain">the chain</param>
/// <param name="_direction">direction of the player</param>
/// <param name="_axis">axis of rotation for the 2nd joint (the Hinge joint)</param>
public void SolveAnalytically(RootIK.Chain _hingeChain, Vector3 _direction, Vector3 _axis)
{
if (_hingeChain.joints.Count > 3)
{
return;
}
if (_hingeChain.iterations <= 0)
{
return;
}
if (_hingeChain.joints.Count <= 0)
{
return;
}
//calculate bone length;
upperLength = Vector3.Distance(_hingeChain.joints[0].transform.position, _hingeChain.joints[1].transform.position);
lowerLength = Vector3.Distance(_hingeChain.joints[1].transform.position, _hingeChain.joints[2].transform.position);
systemLength = Vector3.Distance(_hingeChain.joints[0].transform.position, _hingeChain.GetIKPosition());
//lowerjoint 1DOF
float _angle = GenericMaths.Formula(upperLength, lowerLength, systemLength) + Mathf.PI * Mathf.Rad2Deg;
if (_axis == Vector3.zero)
{
_axis = Vector3.Cross(RootIK.TransformVector(Vector3.up, _hingeChain.joints[1].transform.rotation), _direction);
}
else
{
_axis = Vector3.Cross(RootIK.TransformVector(_axis, _hingeChain.joints[1].transform.rotation), _direction);
}
Quaternion _src = _hingeChain.joints[1].transform.rotation;
Quaternion _t = GenericMaths.QuaternionFromAngleAxis(_axis, _angle + Mathf.Acos(Mathf.Clamp(_src.w, -1f, 1f)) * 10f);
Quaternion _finalRot = Quaternion.Lerp(Quaternion.identity, _t, _hingeChain.weight);
_hingeChain.joints[1].transform.rotation = GenericMaths.ApplyQuaternion(_finalRot, _src);
//Upperjoint 3DOF
Vector3 _v1 = _hingeChain.GetIKPosition() - _hingeChain.joints[0].transform.position;
Vector3 _v2 = _hingeChain.joints[2].transform.position - _hingeChain.joints[0].transform.position;
Quaternion _src2 = _hingeChain.joints[0].transform.rotation;
Quaternion _t2 = RootIK.RotateFromTo(_v2, _v1);
Quaternion _finalRot2 = Quaternion.Lerp(Quaternion.identity, _t2, _hingeChain.weight);
_hingeChain.joints[0].transform.rotation = GenericMaths.ApplyQuaternion(Quaternion.Inverse(_finalRot2), _src2);
//foot 6DOF
_hingeChain.GetEndEffector().rotation = _hingeChain.GetIKRotation();
}
/// <summary>
/// solve the joints backward
/// </summary>
private void SolveInward()
{
chain.joints[chain.joints.Count - 1].solvePos = GenericMaths.Interpolate(chain.GetEndEffector().position, chain.GetIKPosition(), chain.weight);
for (int i = chain.joints.Count - 2; i >= 0; i--)
{
Vector3 _v1 = chain.joints[i + 1].solvePos;
Vector3 _v0 = chain.joints[i].solvePos - _v1;
_v0.Normalize();
_v0 *= Vector3.Distance(chain.joints[i].transform.position, chain.joints[i + 1].transform.position);
chain.joints[i].solvePos = GenericMaths.Interpolate(chain.joints[i].transform.position, _v0 + _v1, chain.weight);
}
}