public void LimitBend(float solverWeight, float positionWeight)
{
if (!this.initiated)
{
return;
}
Vector3 vector = this.bone1.rotation * -this.defaultLocalDirection;
Vector3 fromDirection = this.bone3.position - this.bone2.position;
bool flag = false;
Vector3 toDirection = V3Tools.ClampDirection(fromDirection, vector, this.clampF * solverWeight, 0, out flag);
Quaternion rotation = this.bone3.rotation;
if (flag)
{
Quaternion lhs = Quaternion.FromToRotation(fromDirection, toDirection);
this.bone2.rotation = lhs * this.bone2.rotation;
}
if (positionWeight > 0f)
{
Vector3 vector2 = this.bone2.position - this.bone1.position;
Vector3 fromDirection2 = this.bone3.position - this.bone2.position;
Vector3.OrthoNormalize(ref vector2, ref fromDirection2);
Quaternion lhs2 = Quaternion.FromToRotation(fromDirection2, vector);
this.bone2.rotation = Quaternion.Lerp(this.bone2.rotation, lhs2 * this.bone2.rotation, positionWeight * solverWeight);
}
if (flag || positionWeight > 0f)
{
this.bone3.rotation = rotation;
}
}
/*
* Limits the bending joint of the limb to 90 degrees from the default 90 degrees of bend direction
* */
public void LimitBend(float solverWeight, float positionWeight)
{
if (!initiated)
{
return;
}
Vector3 normalDirection = bone1.rotation * -defaultLocalDirection;
Vector3 axis2 = bone3.position - bone2.position;
// Clamp the direction from knee/elbow to foot/hand to valid range (90 degrees from right-angledly bent limb)
bool changed = false;
Vector3 clampedAxis2 = V3Tools.ClampDirection(axis2, normalDirection, clampF * solverWeight, 0, out changed);
Quaternion bone3Rotation = bone3.rotation;
if (changed)
{
Quaternion f = Quaternion.FromToRotation(axis2, clampedAxis2);
bone2.rotation = f * bone2.rotation;
}
// Rotating bend direction to normal when the limb is stretched out
if (positionWeight > 0f)
{
Vector3 normal = bone2.position - bone1.position;
Vector3 tangent = bone3.position - bone2.position;
Vector3.OrthoNormalize(ref normal, ref tangent);
Quaternion q = Quaternion.FromToRotation(tangent, normalDirection);
bone2.rotation = Quaternion.Lerp(bone2.rotation, q * bone2.rotation, positionWeight * solverWeight);
}
if (changed || positionWeight > 0f)
{
bone3.rotation = bone3Rotation;
}
}
/*
* Limits the bending joint of the limb to 90 degrees from the default 90 degrees of bend direction
* */
public void LimitBend(float solverWeight)
{
Vector3 normalDirection = bone1.rotation * -defaultLocalDirection;
Vector3 axis2 = bone3.position - bone2.position;
bool changed = false;
Vector3 clampedAxis2 = V3Tools.ClampDirection(axis2, normalDirection, 0.505f * solverWeight, 0, out changed);
if (!changed)
{
return;
}
Quaternion bone3Rotation = bone3.rotation;
Quaternion f = Quaternion.FromToRotation(axis2, clampedAxis2);
bone2.rotation = f * bone2.rotation;
bone3.rotation = bone3Rotation;
}
private void ChestDirection()
{
float num = this.chestDirectionWeight * this.ik.solver.IKPositionWeight;
if (num <= 0f)
{
return;
}
bool flag = false;
this.chestDirection = V3Tools.ClampDirection(this.chestDirection, this.ik.references.root.forward, 0.45f, 2, out flag);
if (this.chestDirection == Vector3.zero)
{
return;
}
Quaternion quaternion = Quaternion.FromToRotation(this.ik.references.root.forward, this.chestDirection);
quaternion = Quaternion.Lerp(Quaternion.identity, quaternion, num * (1f / (float)this.chestBones.Length));
foreach (Transform transform in this.chestBones)
{
transform.rotation = quaternion * transform.rotation;
}
}
