//--------------------------------------------------------------------------------------------------------------------
// for Finger.
public static bool _LimitFingerNotThumb(
bool isRight,
ref Vector3 dir, // dirX
ref FastAngle limitYPlus,
ref FastAngle limitYMinus,
ref FastAngle limitZ )
{
bool isLimited = false;
// Yaw
if( limitZ.cos > IKEpsilon ) {
// Memo: Unstable when dir.z near 1.
if( dir.z < -limitZ.sin || dir.z > limitZ.sin ) {
isLimited = true;
bool isPlus = (dir.z >= 0.0f);
float lenXY = SAFBIKSqrt( dir.x * dir.x + dir.y * dir.y );
if( limitZ.sin <= IKEpsilon ) { // Optimized.
if( lenXY > IKEpsilon ) {
dir.z = 0.0f;
dir = dir * (1.0f / lenXY);
} else { // Failsafe.
dir.Set( isRight ? limitZ.cos : -limitZ.cos, 0.0f, isPlus ? limitZ.sin : -limitZ.sin );
}
} else {
float lenZ = limitZ.sin * lenXY / limitZ.cos;
dir.z = isPlus ? lenZ : -lenZ;
float len = dir.magnitude;
if( len > IKEpsilon ) {
dir *= (1.0f / len);
} else { // Failsafe.
dir.Set( isRight ? limitZ.cos : -limitZ.cos, 0.0f, isPlus ? limitZ.sin : -limitZ.sin );
}
}
}
}
// Pitch
{
// Memo: Not use z.( For yaw limit. )
bool isPlus = (dir.y >= 0.0f);
float cosPitchLimit = isPlus ? limitYPlus.cos : limitYMinus.cos;
if( (isRight && dir.x < cosPitchLimit) || (!isRight && dir.x > -cosPitchLimit) ) {
float lenY = SAFBIKSqrt( 1.0f - (cosPitchLimit * cosPitchLimit + dir.z * dir.z) );
dir.x = (isRight ? cosPitchLimit : -cosPitchLimit);
dir.y = (isPlus ? lenY : -lenY);
}
}
return isLimited;
}
public FingerIK( FullBodyIK fullBodyIK, FingerIKType fingerIKType )
{
_fingerIKType = fingerIKType;
_settings = fullBodyIK.settings;
_internalValues = fullBodyIK.internalValues;
FingersBones fingerBones = null;
FingersEffectors fingerEffectors = null;
switch( fingerIKType ) {
case FingerIKType.LeftWrist:
_parentBone = fullBodyIK.leftArmBones.wrist;
fingerBones = fullBodyIK.leftHandFingersBones;
fingerEffectors = fullBodyIK.leftHandFingersEffectors;
break;
case FingerIKType.RightWrist:
_parentBone = fullBodyIK.rightArmBones.wrist;
fingerBones = fullBodyIK.rightHandFingersBones;
fingerEffectors = fullBodyIK.rightHandFingersEffectors;
break;
}
_notThumb1PitchUTraceSmooth = new FastAngle( _notThumb1PitchUTrace.angle + _notThumb1PitchUSmooth.angle );
if( fingerBones != null && fingerEffectors != null ) {
for( int fingerType = 0; fingerType < (int)FingerType.Max; ++fingerType ) {
Bone[] bones = null;
Effector effector = null;
switch( fingerType ) {
case (int)FingerType.Thumb:
bones = fingerBones.thumb;
effector = fingerEffectors.thumb;
break;
case (int)FingerType.Index:
bones = fingerBones.index;
effector = fingerEffectors.index;
break;
case (int)FingerType.Middle:
bones = fingerBones.middle;
effector = fingerEffectors.middle;
break;
case (int)FingerType.Ring:
bones = fingerBones.ring;
effector = fingerEffectors.ring;
break;
case (int)FingerType.Little:
bones = fingerBones.little;
effector = fingerEffectors.little;
break;
}
if( bones != null && effector != null ) {
_PrepareBranch( fingerType, bones, effector );
}
}
}
}
public static Vector3 _Rotate( ref Vector3 dirX, ref Vector3 dirY, ref FastAngle angle )
{
return dirX * angle.cos + dirY * angle.sin;
}