public static void Solve(Transform bone1, Transform bone2, Transform bone3, Vector3 targetPosition, Vector3 bendNormal, float weight)
{
if (weight <= 0f)
{
return;
}
targetPosition = Vector3.Lerp(bone3.position, targetPosition, weight);
Vector3 vector = targetPosition - bone1.position;
float magnitude = vector.magnitude;
if (magnitude == 0f)
{
return;
}
float sqrMagnitude = (bone2.position - bone1.position).sqrMagnitude;
float sqrMagnitude2 = (bone3.position - bone2.position).sqrMagnitude;
Vector3 bendDirection = Vector3.Cross(vector, bendNormal);
Vector3 directionToBendPoint = IKSolverTrigonometric.GetDirectionToBendPoint(vector, magnitude, bendDirection, sqrMagnitude, sqrMagnitude2);
Quaternion quaternion = Quaternion.FromToRotation(bone2.position - bone1.position, directionToBendPoint);
if (weight < 1f)
{
quaternion = Quaternion.Lerp(Quaternion.identity, quaternion, weight);
}
bone1.rotation = quaternion * bone1.rotation;
Quaternion quaternion2 = Quaternion.FromToRotation(bone3.position - bone2.position, targetPosition - bone2.position);
if (weight < 1f)
{
quaternion2 = Quaternion.Lerp(Quaternion.identity, quaternion2, weight);
}
bone2.rotation = quaternion2 * bone2.rotation;
}
/*
* Draws the scene view helpers for IKSolverTrigonometric
* */
public static void AddScene(IKSolverTrigonometric solver, Color color, bool modifiable)
{
if (!solver.IsValid(true))
{
return;
}
if (Application.isPlaying && !solver.initiated)
{
return;
}
Handles.color = color;
GUI.color = color;
Vector3 bendPosition = solver.bone2.transform.position;
Vector3 endPosition = solver.bone3.transform.position;
// Chain lines
Handles.DrawLine(solver.bone1.transform.position, bendPosition);
Handles.DrawLine(bendPosition, endPosition);
// Joints
Handles.SphereCap(0, solver.bone1.transform.position, Quaternion.identity, jointSize);
Handles.SphereCap(0, bendPosition, Quaternion.identity, jointSize);
Handles.SphereCap(0, endPosition, Quaternion.identity, jointSize);
if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0))
{
if (modifiable)
{
Handles.CubeCap(0, solver.IKPosition, solver.IKRotation, selectedSize);
// Manipulating position and rotation
switch (Tools.current)
{
case Tool.Move:
solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity);
break;
case Tool.Rotate:
solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition);
break;
}
}
// Target
Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight));
Handles.DrawLine(endPosition, solver.IKPosition);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
/*
* Draws the scene view helpers for IKSolverTrigonometric
* */
public static void AddScene(IKSolverTrigonometric solver, Color color, bool modifiable) {
if (!solver.IsValid(false)) return;
if (Application.isPlaying && !solver.initiated) return;
//float length = Vector3.Distance(solver.bone1.transform.position, solver.bone2.transform.position) + Vector3.Distance(solver.bone2.transform.position, solver.bone3.transform.position);
//float size = length * 0.05f;
Handles.color = color;
GUI.color = color;
Vector3 bendPosition = solver.bone2.transform.position;
Vector3 endPosition = solver.bone3.transform.position;
// Chain lines
Handles.DrawLine(solver.bone1.transform.position, bendPosition);
Handles.DrawLine(bendPosition, endPosition);
// Joints
Handles.SphereCap(0, solver.bone1.transform.position, Quaternion.identity, GetHandleSize(solver.bone1.transform.position));
Handles.SphereCap(0, bendPosition, Quaternion.identity, GetHandleSize(bendPosition));
Handles.SphereCap(0, endPosition, Quaternion.identity, GetHandleSize(endPosition));
if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0)) {
if (modifiable) {
Handles.CubeCap(0, solver.IKPosition, solver.IKRotation, GetHandleSize(solver.IKPosition));
// Manipulating position and rotation
switch(Tools.current) {
case Tool.Move:
if (solver.target == null) solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity);
break;
case Tool.Rotate:
if (solver.target == null) solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition);
break;
}
}
// Target
Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight));
Handles.DrawLine(endPosition, solver.IKPosition);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
public override void Execute()
{
var ik = EntityView.GetComponent<TrigonometricIK>();
Solver = ik.solver;
}
/*
* Draws the scene view helpers for IKSolverTrigonometric
* */
public static void AddScene(IKSolverTrigonometric solver, Color color, bool modifiable)
{
if (Application.isPlaying && !solver.initiated)
{
return;
}
if (!Application.isPlaying && !solver.IsValid())
{
return;
}
//float length = Vector3.Distance(solver.bone1.transform.position, solver.bone2.transform.position) + Vector3.Distance(solver.bone2.transform.position, solver.bone3.transform.position);
//float size = length * 0.05f;
Handles.color = color;
GUI.color = color;
Vector3 bendPosition = solver.bone2.transform.position;
Vector3 endPosition = solver.bone3.transform.position;
// Chain lines
Handles.DrawLine(solver.bone1.transform.position, bendPosition);
Handles.DrawLine(bendPosition, endPosition);
// Joints
Handles.SphereHandleCap(0, solver.bone1.transform.position, Quaternion.identity, GetHandleSize(solver.bone1.transform.position), EventType.Repaint);
Handles.SphereHandleCap(0, bendPosition, Quaternion.identity, GetHandleSize(bendPosition), EventType.Repaint);
Handles.SphereHandleCap(0, endPosition, Quaternion.identity, GetHandleSize(endPosition), EventType.Repaint);
if (Application.isPlaying && (solver.IKPositionWeight > 0 || solver.IKRotationWeight > 0))
{
if (modifiable)
{
Handles.CubeHandleCap(0, solver.IKPosition, solver.IKRotation, GetHandleSize(solver.IKPosition), EventType.Repaint);
// Manipulating position and rotation
switch (Tools.current)
{
case Tool.Move:
if (solver.target == null)
{
solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity);
}
break;
case Tool.Rotate:
if (solver.target == null)
{
solver.IKRotation = Handles.RotationHandle(solver.IKRotation, solver.IKPosition);
}
break;
}
}
// Target
Handles.color = new Color(color.r, color.g, color.b, color.a * Mathf.Max(solver.IKPositionWeight, solver.IKRotationWeight));
Handles.DrawLine(endPosition, solver.IKPosition);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
