public void Initiate(IKSolverFullBody solver)
{
this.node1 = (solver.GetPoint(this.bone1) as IKSolver.Node);
this.node2 = (solver.GetPoint(this.bone2) as IKSolver.Node);
this.node3 = (solver.GetPoint(this.bone3) as IKSolver.Node);
this.direction = this.OrthoToBone1(this.OrthoToLimb(this.node2.transform.position - this.node1.transform.position));
this.defaultLocalDirection = Quaternion.Inverse(this.node1.transform.rotation) * this.direction;
Vector3 point = Vector3.Cross((this.node3.transform.position - this.node1.transform.position).normalized, this.direction);
this.defaultChildDirection = Quaternion.Inverse(this.node3.transform.rotation) * point;
this.initiated = true;
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver)
{
node1 = solver.GetPoint(bone1) as IKSolver.Node;
node2 = solver.GetPoint(bone2) as IKSolver.Node;
node3 = solver.GetPoint(bone3) as IKSolver.Node;
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(OrthoToLimb(node2.transform.position - node1.transform.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(node1.transform.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((node3.transform.position - node1.transform.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(node3.transform.rotation) * defaultNormal;
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver)
{
node1 = solver.GetPoint(bone1) as IKSolver.Node;
node2 = solver.GetPoint(bone2) as IKSolver.Node;
node3 = solver.GetPoint(bone3) as IKSolver.Node;
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(OrthoToLimb(node2.transform.position - node1.transform.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(node1.transform.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((node3.transform.position - node1.transform.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(node3.transform.rotation) * defaultNormal;
}
/// <summary>
/// Determines whether this IKConstraintBend is valid.
/// </summary>
public bool IsValid(IKSolverFullBody solver, Warning.Logger logger) {
if (bone1 == null || bone2 == null || bone3 == null) {
if (logger != null) logger("Bend Constraint contains a null reference.");
return false;
}
if (solver.GetPoint(bone1) == null) {
if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone1.name + "' that does not excist in the Node Chain.");
return false;
}
if (solver.GetPoint(bone2) == null) {
if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone2.name + "' that does not excist in the Node Chain.");
return false;
}
if (solver.GetPoint(bone3) == null) {
if (logger != null) logger("Bend Constraint is referencing to a bone '" + bone3.name + "' that does not excist in the Node Chain.");
return false;
}
return true;
}
/// <summary>
/// Determines whether this IKConstraintBend is valid.
/// </summary>
public bool IsValid(IKSolverFullBody solver, Warning.Logger logger)
{
if (bone1 == null || bone2 == null || bone3 == null)
{
if (logger != null)
{
logger("Bend Constraint contains a null reference.");
}
return(false);
}
if (solver.GetPoint(bone1) == null)
{
if (logger != null)
{
logger("Bend Constraint is referencing to a bone '" + bone1.name + "' that does not excist in the Node Chain.");
}
return(false);
}
if (solver.GetPoint(bone2) == null)
{
if (logger != null)
{
logger("Bend Constraint is referencing to a bone '" + bone2.name + "' that does not excist in the Node Chain.");
}
return(false);
}
if (solver.GetPoint(bone3) == null)
{
if (logger != null)
{
logger("Bend Constraint is referencing to a bone '" + bone3.name + "' that does not excist in the Node Chain.");
}
return(false);
}
return(true);
}