public void AutoSetup()
{
if (AutoSetupEndJoint == null)
{
return;
}
var joints = new List <Transform>();
joints = AddIntermediateObjects(joints);
if (EndOffset)
{
joints = AddEndOffset(joints);
}
var ikParent = GameObject.Find("_IkControllers");
if (ikParent == null)
{
ikParent = new GameObject {
name = "_IkControllers"
}
}
;
Chain = new RageIkChain(joints, ikParent.transform, TwoDmode);
Chain.Init();
Chain.Target = CreateController(ikParent, joints[joints.Count - 1].gameObject, "IkTarget_" + gameObject.name).transform;
SetupJointLimiters(Chain);
}
public static void Solve(RageIkChain chain)
{
if (chain.Joints.Count < 2)
{
return;
}
chain.Init();
if (IsTargetUnreachable(chain))
{
for (int i = 0; i < chain.Joints.Count - 1; i++)
{
Quaternion rotation = Quaternion.FromToRotation(chain.Joints[i + 1].position - chain.Joints[i].position,
chain.Target.position - chain.Joints[i].position);
AddRotation(chain.Joints[i], rotation, chain);
var limiter = chain.Joints[i].GetComponent <RageIkJointLimiter>();
if (limiter == null || !limiter.Live)
{
continue;
}
if (limiter.ValidVector(limiter.RestDirection))
{
continue;
}
if (Vector3.Angle(limiter.RestDirection, limiter.MaxAngle) > Vector3.Angle(limiter.RestDirection, limiter.MinAngle))
{
AddRotation(chain.Joints[i], Quaternion.FromToRotation(limiter.RestDirection, limiter.MinAngle), chain);
continue;
}
AddRotation(chain.Joints[i], Quaternion.FromToRotation(limiter.RestDirection, limiter.MaxAngle), chain);
}
ChangeLastElementRotation(chain);
return;
}
int tries = 0;
Vector3 rootInitial = chain.Joints[0].position;
float targetDelta = Vector3.Distance(chain.Joints[chain.Joints.Count - 1].position, chain.Target.position);
var desiredPositions = new Vector3[chain.Joints.Count];
for (int i = 0; i < chain.Joints.Count; i++)
{
desiredPositions[i] = chain.Joints[i].position;
}
while (targetDelta > Accuracy && tries < MaxIterations)
{
ForwardReachingPhase(chain, desiredPositions);
BackwardReachingPhase(chain, desiredPositions, rootInitial);
targetDelta = Vector3.Distance(desiredPositions[chain.Joints.Count - 1], chain.Target.position);
tries++;
}
}