private void Init()
{
if (Chain.Joints == null || Chain.Joints.Count != 3)
{
Debug.LogError("Fetal !: the chain joints are undefined");
return;
}
Chain.InitiateJoints();
Chain.Weight = 1;
_EEAnimRot = Chain.GetEndEffector().rotation;
EE = Chain.GetEndEffector();
_init = true;
}
// Token: 0x06002772 RID: 10098 RVA: 0x000B70C0 File Offset: 0x000B52C0
public Core.Chain LeftLegChain()
{
if (!this.IsReady())
{
return(null);
}
if (this.rigType != RigReader.RigType.Humanoid)
{
return(null);
}
Core.Chain chain = new Core.Chain();
chain.joints.Add(this.l_lowerbody.upperLeg);
chain.joints.Add(this.l_lowerbody.lowerLeg);
chain.joints.Add(this.l_lowerbody.foot);
chain.InitiateJoints();
return(chain);
}
/// <summary>
/// Process a 2 bones chain with a specific "epsilon" value
/// </summary>
/// <param name="chain"></param>
/// <param name="eps">a specific value, not bounded to the global Epsilon</param>
public static void Process(Core.Chain chain, float eps)
{
if (chain.Initiated == false)
{
chain.InitiateJoints();
}
if (chain.Joints.Count != 3)
{
Debug.LogError("The Analytical Solver only works with 3-joints(2 bones) chain configurations");
return;
}
Core.Joint A = chain.Joints[0];
Core.Joint B = chain.Joints[1];
Core.Joint C = chain.Joints[2];
Vector3 T = chain.GetIKTarget();
Vector3 AB = Vector3.Normalize(B.joint.position - A.joint.position);
Vector3 AC = Vector3.Normalize(C.joint.position - A.joint.position);
Vector3 CB = Vector3.Normalize(B.joint.position - C.joint.position);
Vector3 TA = A.joint.position - T;
float l_ab = A.length;
float l_cb = B.length;
float l_at = GenericMath.Clamp(TA.magnitude, eps, l_ab + l_cb - eps);
float kneeCurrent = GenericMath.VectorsAngle(AB, CB);
float kneeTarget = GenericMath.CosineRule(A.length, B.length, l_at);
float kneeDelta = kneeTarget - kneeCurrent;
Vector3 axis = GenericMath.TransformVector(Vector3.Normalize(Vector3.Cross(AC, AB)),
Quaternion.Inverse(B.joint.rotation));
Quaternion q1 = Quaternion.AngleAxis(kneeDelta, axis);
Quaternion knee = Quaternion.Lerp(B.joint.rotation, GenericMath.ApplyQuaternion(B.joint.rotation, q1),
chain.Weight);
B.joint.rotation = knee;
Quaternion q2 = Quaternion.FromToRotation(A.joint.position - C.joint.position, TA);
Quaternion thigh = Quaternion.Lerp(A.joint.rotation, GenericMath.ApplyQuaternion(q2, A.joint.rotation),
chain.Weight);
A.joint.rotation = thigh;
}
// Token: 0x06002770 RID: 10096 RVA: 0x000B6FC8 File Offset: 0x000B51C8
public Core.Chain LeftArmChain()
{
if (!this.IsReady())
{
return(null);
}
if (this.rigType != RigReader.RigType.Humanoid)
{
return(null);
}
Core.Chain chain = new Core.Chain();
chain.joints.Add(this.l_upperbody.shoulder);
chain.joints.Add(this.l_upperbody.upperArm);
chain.joints.Add(this.l_upperbody.lowerArm);
chain.joints.Add(this.l_upperbody.hand);
chain.InitiateJoints();
return(chain);
}
// Token: 0x0600274F RID: 10063 RVA: 0x000B62EC File Offset: 0x000B44EC
public static bool Process(Core.Chain chain)
{
if (chain.joints.Count <= 0)
{
return(false);
}
if (!chain.initiated)
{
chain.InitiateJoints();
}
chain.MapVirtualJoints();
for (int i = 0; i < chain.iterations; i++)
{
FastReachSolver.SolveInward(chain);
FastReachSolver.SolveOutward(chain);
}
FastReachSolver.MapSolverOutput(chain);
return(true);
}
/// <summary>
/// Build the right leg chain
/// </summary>
/// <returns></returns>
private Core.Chain LeftLegChain()
{
if (!IsReady())
{
return(null);
}
if (rigType != RigType.Humanoid)
{
return(null);
}
Core.Chain chain = new Core.Chain();
chain.Joints.Add(l_lowerbody.upperLeg);
chain.Joints.Add(l_lowerbody.lowerLeg);
chain.Joints.Add(l_lowerbody.foot);
chain.InitiateJoints();
return(chain);
}
/// <summary>
/// Build the left arm IK chain
/// </summary>
/// <returns></returns>
private Core.Chain LeftArmChain()
{
if (!IsReady())
{
return(null);
}
if (rigType != RigType.Humanoid)
{
return(null);
}
Core.Chain chain = new Core.Chain();
chain.Joints.Add(l_upperbody.shoulder);
chain.Joints.Add(l_upperbody.upperArm);
chain.Joints.Add(l_upperbody.lowerArm);
chain.Joints.Add(l_upperbody.hand);
chain.InitiateJoints();
return(chain);
}
