public override void tick(float dt)
{
if (SimpleIK.intersection(0, 0, this.radius1, (this.targetAbs.v - this.basisAbs.v).length(), 0, this.radius2))
{
if ((SimpleIK.yi > 0))
{
this.resultAbs.v = this.calc(new Vector2(SimpleIK.xi, SimpleIK.yi));
}
else
{
this.resultAbs.v = this.calc(new Vector2(SimpleIK.xi_prime, SimpleIK.yi_prime));
}
}
}
public override void tick(float dt)
{
isInError = false;
float len = (targetAbs.v - basisAbs.v).length();
// len = Math.Max(len, Math.Abs(radius1 - radius2)*1.01f);
// len = Math.Min(len, Math.Abs(radius1 + radius2)*0.99f); - must not happen
if (SimpleIK.intersection(radius1, len, radius2))
{
// if (SimpleIK.intersection(0, 0, radius1, len, 0, radius2)) {
if (SimpleIK.yi > 0)
{
resultAbs.v = calc(new Vector2(SimpleIK.xi, SimpleIK.yi));
}
else
{
resultAbs.v = calc(new Vector2(SimpleIK.xi_prime, SimpleIK.yi_prime));
}
}
else
{
isInError = true;
float ratio = radius1 / (radius1 + radius2);
if (!float.IsInfinity(ratio))
{
resultAbs.v = basisAbs.v.mix(targetAbs.v, ratio);
}
}
if (float.IsNaN(resultAbs.v.x) || float.IsNaN(resultAbs.v.y) || float.IsNaN(resultAbs.v.z))
{
isInError = true;
Debug.Log("!" + resultAbs.v + " " + radius1 + " " + radius2);
Debug.Log("!!" + targetAbs.v);
}
}
