private FABRIKChain LoadSystem(Transform transform, FABRIKChain parent = null, int layer = 0)
{
List <FABRIKEffector> effectors = new List <FABRIKEffector>();
// Use parent chain's end effector as our sub-base effector, e.g:
// [D]---[E]
// 1 / 2 1 = [A, B, C]
// [A]---[B]---[C] 2 = [C, D, E]
// \ 3 3 = [C, F, G]
// [F]---[G]
if (parent != null)
{
effectors.Add(parent.EndEffector);
}
// childCount > 1 is a new sub-base
// childCount = 0 is an end chain (added to our list below)
// childCount = 1 is continuation of chain
while (transform != null)
{
FABRIKEffector effector = transform.gameObject.GetComponent <FABRIKEffector>();
if (effector == null)
{
break;
}
effectors.Add(effector);
if (transform.childCount != 1)
{
break;
}
transform = transform.GetChild(0);
}
FABRIKChain chain = new FABRIKChain(parent, effectors, layer);
chains.Add(chain);
// Add to our end chain list if it is an end chain
if (chain.IsEndChain)
{
endChains.Add(transform.gameObject.name, chain);
}
// Else iterate over each of the end effector's children to create a new chain in the layer above
else
{
foreach (Transform child in transform)
{
LoadSystem(child, chain, layer + 1);
}
}
return(chain);
}
static public FABRIKEffector FetchComponent(GameObject gameObject)
{
FABRIKEffector effector = gameObject.GetComponent <FABRIKEffector>();
if (effector == null)
{
effector = gameObject.AddComponent <FABRIKEffector>();
}
return(effector);
}
public FABRIKEffector Constructor(FABRIKEffector parent = null)
{
position = transform.position;
if (parent != null)
{
distance = Vector3.Distance(parent.position, position);
}
return(this);
}
public FABRIKEffector Constructor(FABRIKEffector parent = null)
{
position = transform.position;
if(parent != null)
{
distance = Vector3.Distance(parent.position, position);
}
return this;
}
public void OnEnable()
{
FABRIKEffector effector = target as FABRIKEffector;
Transform transform = effector.transform;
SerializedObject serializedObject = new SerializedObject(target);
SerializedProperty upAxisConstraintProperty = serializedObject.FindProperty("upAxisConstraint");
SerializedProperty forwardAxisConstraintProperty = serializedObject.FindProperty("forwardAxisConstraint");
rotation = transform.rotation * Quaternion.LookRotation(forwardAxisConstraintProperty.vector3Value, upAxisConstraintProperty.vector3Value);
editingAxis = false;
}
protected void CreateSystem(Transform transform)
{
if (transform.gameObject.GetComponent <FABRIKEffector>() == null)
{
FABRIKEffector effector = transform.gameObject.AddComponent <FABRIKEffector>();
if (transform.parent != null)
{
effector.forwardAxisConstraint = transform.localPosition;
effector.upAxisConstraint = Vector3.up;
}
Debug.Log(transform.gameObject.name + ": FABRIKEffector added.");
}
else
{
Debug.Log(transform.gameObject.name + ": FABRIKEffector already exists!");
}
if (transform.childCount == 0 && !transform.gameObject.name.Contains("_end_effector"))
{
GameObject gameObject = new GameObject(transform.gameObject.name + "_end_effector");
gameObject.transform.parent = transform;
MeshFilter meshFilter = transform.gameObject.GetComponent <MeshFilter>();
if (meshFilter != null)
{
Bounds bounds = meshFilter.mesh.bounds;
//gameObject.transform.localPosition = bounds.center + bounds.extents;
//gameObject.transform.localPosition = Vector3.forward;
}
else
{
gameObject.transform.position = transform.position;
}
Debug.Log(transform.gameObject.name + ": end effector added as " + gameObject.name);
}
foreach (Transform child in transform)
{
CreateSystem(child);
}
}
private FABRIKChain CreateSystem(Transform transform, FABRIKChain parent = null, int layer = 0)
{
List <FABRIKEffector> effectors = new List <FABRIKEffector>();
FABRIKEffector effector = null;
// Use parent chain's end effector as our sub-base effector
if (parent != null)
{
effector = parent.EndEffector;
effectors.Add(effector);
}
// childCount > 1 is a new sub-base, childCount = 0 is an end chain (added to our list below), childCount = 1 is continuation of chain
while (transform)
{
effector = FABRIKEffector.FetchComponent(transform.gameObject).Constructor(effector);
effectors.Add(effector);
if (transform.childCount != 1)
{
break;
}
transform = transform.GetChild(0);
}
FABRIKChain chain = new FABRIKChain(layer, parent, effectors.ToArray());
chains.Add(chain);
if (transform.childCount == 0)
{
endChains.Add(chain);
}
else
{
foreach (Transform child in transform)
{
CreateSystem(child, chain, layer + 1);
}
}
return(chain);
}
public void OnSceneGUI()
{
if (editingAxis)
{
if (Tools.current != Tool.None)
{
editingAxis = false;
}
else
{
FABRIKEffector effector = target as FABRIKEffector;
Transform transform = effector.transform;
EditorGUI.BeginChangeCheck();
Quaternion new_rotation = Handles.RotationHandle(rotation, transform.position);
Handles.color = Handles.yAxisColor;
Handles.ArrowHandleCap(0, transform.position, Quaternion.LookRotation(new_rotation * Vector3.up), 0.5F, EventType.Repaint);
Handles.color = Handles.zAxisColor;
Handles.ArrowHandleCap(0, transform.position, new_rotation, 1.0F, EventType.Repaint);
if (EditorGUI.EndChangeCheck())
{
rotation = new_rotation;
SerializedObject serializedObject = new SerializedObject(target);
SerializedProperty upAxisConstraintProperty = serializedObject.FindProperty("upAxisConstraint");
SerializedProperty forwardAxisConstraintProperty = serializedObject.FindProperty("forwardAxisConstraint");
upAxisConstraintProperty.vector3Value = Quaternion.Inverse(transform.rotation) * new_rotation * Vector3.up;
forwardAxisConstraintProperty.vector3Value = Quaternion.Inverse(transform.rotation) * new_rotation * Vector3.forward;
serializedObject.ApplyModifiedProperties();
AssetDatabase.SaveAssets();
}
}
}
}
public void OnSceneGUI()
{
FABRIKEffector effector = target as FABRIKEffector;
Transform transform = effector.transform;
if (transform.parent != null && transform.parent.parent != null)
{
// Take our world-space direction and world-space up vector of the constraining rotation
// Multiply this by the inverse of the constraining rotation to derive a local rotation
Quaternion rotation = Quaternion.Inverse(transform.parent.parent.rotation) * Quaternion.LookRotation(transform.localPosition, transform.parent.rotation * Vector3.up);
Quaternion swing, twist;
// Decompose our local rotation to swing-twist about the forward vector of the constraining rotation
rotation.Decompose(transform.parent.rotation * Vector3.forward, out swing, out twist);
Handles.color = new Color(1.0f, 0.8f, 0.6f, 0.2f);
Handles.DrawSolidArc(transform.parent.position,
transform.parent.parent.rotation * swing * Vector3.right,
transform.parent.parent.rotation * swing * Quaternion.AngleAxis(-effector.swingConstraint * 0.5F, swing * Vector3.right) * Vector3.forward, effector.swingConstraint, 5.0f);
Handles.color = new Color(0.6f, 0.8f, 1.0f, 0.2f);
Handles.DrawSolidArc(transform.parent.position,
transform.parent.parent.rotation * twist * Vector3.right,
transform.parent.parent.rotation * twist * Quaternion.AngleAxis(-effector.twistConstraint * 0.5F, twist * Vector3.right) * Vector3.forward, effector.twistConstraint, 5.0f);
// Constrain the swing and twist quaternions
if (effector.SwingConstrained)
{
swing = swing.Constrain(effector.swingConstraint * Mathf.Deg2Rad);
}
if (effector.TwistConstrained)
{
twist = twist.Constrain(effector.twistConstraint * Mathf.Deg2Rad);
}
// Multiply the constrained swing-twist by our constraining rotation to get a world-space rotation
//transform.position = transform.parent.position + transform.parent.parent.rotation * swing * twist * Vector3.forward * transform.localPosition.magnitude;
}
}
private FABRIKEffector CreateEndEffector(FABRIKEffector parent)
{
MeshFilter meshFilter = parent.gameObject.GetComponent <MeshFilter>();
Bounds bounds = meshFilter.mesh.bounds;
GameObject gameObject = new GameObject();
gameObject.hideFlags = HideFlags.DontSave;
gameObject.transform.parent = parent.transform;
gameObject.transform.localPosition = bounds.center + Vector3.Scale(bounds.extents, parent.offset);
foreach (Transform child in parent.transform)
{
if (child != gameObject.transform)
{
child.parent = gameObject.transform;
}
}
return(gameObject.AddComponent <FABRIKEffector>());
}
void Awake()
{
parent = transform.parent.gameObject.GetComponent <FABRIKEffector>();
Position = transform.position;
}
