/*
* Initiating and setting defaults
* */
protected override void OnInitiate()
{
if (iterations <= 0)
{
iterations = 3;
}
// Creating the bone maps
if (spine.Length != spineBones.Length)
{
spine = new BoneMap[spineBones.Length];
}
rootNodeIndex = -1;
for (int i = 0; i < spineBones.Length; i++)
{
if (spine[i] == null)
{
spine[i] = new BoneMap();
}
spine[i].Initiate(spineBones[i], solver);
// Finding the root node
if (spine[i].isNodeBone)
{
rootNodeIndex = i;
}
}
leftUpperArm.Initiate(leftUpperArmBone, solver);
rightUpperArm.Initiate(rightUpperArmBone, solver);
leftThigh.Initiate(leftThighBone, solver);
rightThigh.Initiate(rightThighBone, solver);
for (int i = 0; i < spine.Length; i++)
{
spine[i].SetIKPosition();
}
// Defining the plane for the first bone
spine[0].SetPlane(spine[rootNodeIndex].node, leftThigh.node, rightThigh.node);
// Finding bone lengths and axes
for (int i = 0; i < spine.Length - 1; i++)
{
spine[i].SetLength(spine[i + 1]);
spine[i].SetLocalSwingAxis(spine[i + 1]);
spine[i].SetLocalTwistAxis(leftUpperArm.transform.position - rightUpperArm.transform.position, spine[i + 1].transform.position - spine[i].transform.position);
}
// Defining the plane for the last bone
spine[spine.Length - 1].SetPlane(spine[rootNodeIndex].node, leftUpperArm.node, rightUpperArm.node);
spine[spine.Length - 1].SetLocalSwingAxis(leftUpperArm, rightUpperArm);
useFABRIK = UseFABRIK();
}
/*
* Initiating and setting defaults
* */
public override void Initiate(IKSolverFullBody solver)
{
if (boneMap == null)
{
boneMap = new BoneMap();
}
boneMap.Initiate(bone, solver);
}
/*
* Initiating and setting defaults
* */
protected override void OnInitiate()
{
if (boneMap == null)
{
boneMap = new BoneMap();
}
boneMap.Initiate(bone, solver);
}
/*
* Initiating and setting defaults
* */
protected override void OnInitiate()
{
// Finding the nodes
if (parentBone != null)
{
boneMapParent.Initiate(parentBone, solver);
}
boneMap1.Initiate(bone1, solver);
boneMap2.Initiate(bone2, solver);
boneMap3.Initiate(bone3, solver);
// Define plane points for the bone maps
boneMap1.SetPlane(boneMap1.node, boneMap2.node, boneMap3.node);
boneMap2.SetPlane(boneMap2.node, boneMap3.node, boneMap1.node);
// Find the swing axis for the parent bone
if (parentBone != null)
{
boneMapParent.SetLocalSwingAxis(boneMap1);
}
}
/*
* Initiating and setting defaults
* */
public override void Initiate(IKSolverFullBody solver)
{
if (boneMapParent == null)
{
boneMapParent = new BoneMap();
}
if (boneMap1 == null)
{
boneMap1 = new BoneMap();
}
if (boneMap2 == null)
{
boneMap2 = new BoneMap();
}
if (boneMap3 == null)
{
boneMap3 = new BoneMap();
}
// Finding the nodes
if (parentBone != null)
{
boneMapParent.Initiate(parentBone, solver);
}
boneMap1.Initiate(bone1, solver);
boneMap2.Initiate(bone2, solver);
boneMap3.Initiate(bone3, solver);
// Define plane points for the bone maps
boneMap1.SetPlane(solver, boneMap1.transform, boneMap2.transform, boneMap3.transform);
boneMap2.SetPlane(solver, boneMap2.transform, boneMap3.transform, boneMap1.transform);
// Find the swing axis for the parent bone
if (parentBone != null)
{
boneMapParent.SetLocalSwingAxis(boneMap1);
}
}
/*
* Initiating and setting defaults
* */
protected override void OnInitiate()
{
boneMap.Initiate(bone, solver);
}
