// Token: 0x06003498 RID: 13464 RVA: 0x000E567C File Offset: 0x000E387C
private static void Solve(Core.Chain chain, Transform endEffector, Vector3 LookAtAxis)
{
for (int i = 0; i < chain.joints.Count; i++)
{
Vector3 target = GenericMath.TransformVector(LookAtAxis, endEffector.rotation);
Quaternion b = GenericMath.RotateFromTo(chain.GetIKtarget() - endEffector.position, target);
Quaternion qA = Quaternion.Lerp(Quaternion.identity, b, chain.weight * chain.joints[i].weight);
chain.joints[i].joint.rotation = GenericMath.ApplyQuaternion(qA, chain.joints[i].joint.rotation);
chain.joints[i].ApplyRestrictions();
}
}
// Token: 0x06002750 RID: 10064 RVA: 0x000B6344 File Offset: 0x000B4544
public static void SolveInward(Core.Chain chain)
{
int count = chain.joints.Count;
chain.joints[count - 1].pos = Vector3.Lerp(chain.GetVirtualEE(), chain.GetIKtarget(), chain.weight);
for (int i = count - 2; i >= 0; i--)
{
Vector3 pos = chain.joints[i + 1].pos;
Vector3 vector = chain.joints[i].pos - pos;
vector.Normalize();
vector *= Vector3.Distance(chain.joints[i + 1].joint.position, chain.joints[i].joint.position);
chain.joints[i].pos = pos + vector;
}
}
// Token: 0x0600274B RID: 10059 RVA: 0x000B60A8 File Offset: 0x000B42A8
public static bool Process(Core.Chain chain)
{
if (chain.joints.Count <= 0)
{
return(false);
}
chain.MapVirtualJoints();
for (int i = 0; i < chain.iterations; i++)
{
for (int j = chain.joints.Count - 1; j >= 0; j--)
{
float t = chain.weight * chain.joints[j].weight;
Vector3 source = chain.GetIKtarget() - chain.joints[j].joint.position;
Vector3 target = chain.joints[chain.joints.Count - 1].joint.position - chain.joints[j].joint.position;
Quaternion rotation = chain.joints[j].joint.rotation;
Quaternion qA = Quaternion.Lerp(Quaternion.identity, GenericMath.RotateFromTo(source, target), t);
chain.joints[j].rot = Quaternion.Lerp(rotation, GenericMath.ApplyQuaternion(qA, rotation), t);
chain.joints[j].ApplyVirtualMap(false, true);
chain.joints[j].ApplyRestrictions();
}
}
return(true);
}
