public bool IsValid(Warning.Logger logger = null)
{
if (this.nodes.Length == 0)
{
if (logger != null)
{
logger("FBIK chain contains no nodes.");
}
return(false);
}
IKSolver.Node[] array = this.nodes;
for (int i = 0; i < array.Length; i++)
{
IKSolver.Node node = array[i];
if (node.transform == null)
{
if (logger != null)
{
logger("Node transform is null in FBIK chain.");
}
return(false);
}
}
return(true);
}
public void SetPlane(IKSolver.Node planeNode1, IKSolver.Node planeNode2, IKSolver.Node planeNode3)
{
this.planeNode1 = planeNode1;
this.planeNode2 = planeNode2;
this.planeNode3 = planeNode3;
this.UpdatePlane(true, true);
}
private static Vector3 GetNodePosition(IKSolver.Node node)
{
if (Application.isPlaying)
{
return(node.solverPosition);
}
return(node.transform.position);
}
public void Initiate(IKSolverFullBody solver)
{
this.chain1 = solver.GetChain(this.bone1);
this.chain2 = solver.GetChain(this.bone2);
this.node1 = this.chain1.nodes[0];
this.node2 = this.chain2.nodes[0];
this.OnPreSolve();
}
/*
* Set nodes to the following bone transforms.
* */
public void SetNodes(params Transform[] boneTransforms)
{
nodes = new IKSolver.Node[boneTransforms.Length];
for (int i = 0; i < boneTransforms.Length; i++)
{
nodes[i] = new IKSolver.Node(boneTransforms[i]);
}
}
/*
* Moves the bone to the solver position of it's node
* */
public void FixToNode(float weight, IKSolver.Node fixNode = null)
{
if (fixNode == null)
{
fixNode = node;
}
transform.position = Vector3.Lerp(transform.position, fixNode.solverPosition, weight);
}
public void Initiate(Transform transform, IKSolver solver)
{
this.transform = transform;
IKSolver.Point point = solver.GetPoint(transform);
if (point != null)
{
this.node = (point as IKSolver.Node);
}
}
/*
* Initiating the constraint
* */
public void Initiate(IKSolverFullBody solver) {
chain1 = solver.GetChain(bone1);
chain2 = solver.GetChain(bone2);
node1 = chain1.nodes[0];
node2 = chain2.nodes[0];
OnPreSolve();
}
/*
* Initiating the constraint
* */
public void Initiate(IKSolverFullBody solver)
{
chain1 = solver.GetChain(bone1);
chain2 = solver.GetChain(bone2);
node1 = chain1.nodes[0];
node2 = chain2.nodes[0];
OnPreSolve();
}
public void Initiate(IKSolverFullBody solver)
{
this.node1 = (solver.GetPoint(this.bone1) as IKSolver.Node);
this.node2 = (solver.GetPoint(this.bone2) as IKSolver.Node);
this.node3 = (solver.GetPoint(this.bone3) as IKSolver.Node);
this.direction = this.OrthoToBone1(this.OrthoToLimb(this.node2.transform.position - this.node1.transform.position));
this.defaultLocalDirection = Quaternion.Inverse(this.node1.transform.rotation) * this.direction;
Vector3 point = Vector3.Cross((this.node3.transform.position - this.node1.transform.position).normalized, this.direction);
this.defaultChildDirection = Quaternion.Inverse(this.node3.transform.rotation) * point;
this.initiated = true;
}
public void FixToNode(IKSolverFullBody solver, float weight, IKSolver.Node fixNode = null)
{
if (fixNode == null)
{
fixNode = solver.GetNode(this.chainIndex, this.nodeIndex);
}
if (weight >= 1f)
{
this.transform.position = fixNode.solverPosition;
return;
}
this.transform.position = Vector3.Lerp(this.transform.position, fixNode.solverPosition, weight);
}
public void FixToNode(float weight, IKSolver.Node fixNode = null)
{
if (fixNode == null)
{
fixNode = this.node;
}
if (weight >= 1f)
{
this.transform.position = fixNode.solverPosition;
return;
}
this.transform.position = Vector3.Lerp(this.transform.position, fixNode.solverPosition, weight);
}
/*
* Initiate the effector, set default values
* */
public void Initiate(IKSolver solver)
{
this.solver = solver;
position = bone.position;
rotation = bone.rotation;
animatedPlaneRotation = Quaternion.identity;
// Getting the node
node = solver.GetPoint(bone) as IKSolver.Node;
// Child nodes
if (childNodes == null || childNodes.Length != childBones.Length)
{
childNodes = new IKSolver.Node[childBones.Length];
}
for (int i = 0; i < childBones.Length; i++)
{
childNodes[i] = solver.GetPoint(childBones[i]) as IKSolver.Node;
}
if (localPositions == null || localPositions.Length != childBones.Length)
{
localPositions = new Vector3[childBones.Length];
}
// Plane nodes
usePlaneNodes = false;
if (planeBone1 != null)
{
planeNode1 = solver.GetPoint(planeBone1) as IKSolver.Node;
if (planeBone2 != null)
{
planeNode2 = solver.GetPoint(planeBone2) as IKSolver.Node;
if (planeBone3 != null)
{
planeNode3 = solver.GetPoint(planeBone3) as IKSolver.Node;
usePlaneNodes = true;
}
}
isEndEffector = true;
}
else
{
isEndEffector = false;
}
}
/*
* Moves the bone to the solver position of it's node
* */
public void FixToNode(float weight, IKSolver.Node fixNode = null)
{
if (fixNode == null)
{
fixNode = node;
}
if (weight >= 1f)
{
transform.SetPosition(fixNode.solverPosition);
return;
}
transform.SetPosition(Vector3.Lerp(transform.position, fixNode.solverPosition, weight));
}
/*
* Solve simple linear constraint
* */
private void SolveLinearConstraint(IKSolver.Node node1, IKSolver.Node node2, float crossFade, float distance)
{
Vector3 dir = node2.solverPosition - node1.solverPosition;
float force = 1f - distance / dir.magnitude;
if (force == 0)
{
return;
}
Vector3 offset = dir * force;
node1.solverPosition += offset * crossFade;
node2.solverPosition -= offset * (1f - crossFade);
}
/*
* Solve simple linear constraint
* */
private static void SolveLinearConstraint(IKSolver.Node node1, IKSolver.Node node2, float crossFade, float distance)
{
float currentDistance = Vector3.Distance(node1.solverPosition, node2.solverPosition);
float force = 1f - distance / currentDistance;
if (force == 0)
{
return;
}
Vector3 offset = (node2.solverPosition - node1.solverPosition) * force;
node1.solverPosition += offset * crossFade;
node2.solverPosition -= offset * (1f - crossFade);
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver)
{
node1 = solver.GetPoint(bone1) as IKSolver.Node;
node2 = solver.GetPoint(bone2) as IKSolver.Node;
node3 = solver.GetPoint(bone3) as IKSolver.Node;
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(OrthoToLimb(node2.transform.position - node1.transform.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(node1.transform.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((node3.transform.position - node1.transform.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(node3.transform.rotation) * defaultNormal;
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver)
{
node1 = solver.GetPoint(bone1) as IKSolver.Node;
node2 = solver.GetPoint(bone2) as IKSolver.Node;
node3 = solver.GetPoint(bone3) as IKSolver.Node;
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(OrthoToLimb(node2.transform.position - node1.transform.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(node1.transform.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((node3.transform.position - node1.transform.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(node3.transform.rotation) * defaultNormal;
}
private void SolveLinearConstraint(IKSolver.Node node1, IKSolver.Node node2, float crossFade, float distance)
{
Vector3 a = node2.solverPosition - node1.solverPosition;
float magnitude = a.magnitude;
if (distance == magnitude)
{
return;
}
if (magnitude == 0f)
{
return;
}
Vector3 a2 = a * (1f - distance / magnitude);
node1.solverPosition += a2 * crossFade;
node2.solverPosition -= a2 * (1f - crossFade);
}
public void Initiate(IKSolver solver)
{
this.solver = solver;
this.position = this.bone.position;
this.rotation = this.bone.rotation;
this.animatedPlaneRotation = Quaternion.identity;
this.node = (solver.GetPoint(this.bone) as IKSolver.Node);
if (this.childNodes == null || this.childNodes.Length != this.childBones.Length)
{
this.childNodes = new IKSolver.Node[this.childBones.Length];
}
for (int i = 0; i < this.childBones.Length; i++)
{
this.childNodes[i] = (solver.GetPoint(this.childBones[i]) as IKSolver.Node);
}
if (this.localPositions == null || this.localPositions.Length != this.childBones.Length)
{
this.localPositions = new Vector3[this.childBones.Length];
}
this.usePlaneNodes = false;
if (this.planeBone1 != null)
{
this.planeNode1 = (solver.GetPoint(this.planeBone1) as IKSolver.Node);
if (this.planeBone2 != null)
{
this.planeNode2 = (solver.GetPoint(this.planeBone2) as IKSolver.Node);
if (this.planeBone3 != null)
{
this.planeNode3 = (solver.GetPoint(this.planeBone3) as IKSolver.Node);
this.usePlaneNodes = true;
}
}
this.isEndEffector = true;
}
else
{
this.isEndEffector = false;
}
}
public void Initiate(IKSolver solver, FBIKChain[] chain)
{
this.initiated = false;
IKSolver.Node[] array = this.nodes;
for (int i = 0; i < array.Length; i++)
{
IKSolver.Node node = array[i];
node.solverPosition = node.transform.position;
}
this.CalculateBoneLengths(chain);
FBIKChain.ChildConstraint[] array2 = this.childConstraints;
for (int j = 0; j < array2.Length; j++)
{
FBIKChain.ChildConstraint childConstraint = array2[j];
childConstraint.Initiate(solver as IKSolverFullBody);
}
if (this.nodes.Length == 3)
{
this.bendConstraint.SetBones(this.nodes[0].transform, this.nodes[1].transform, this.nodes[2].transform);
this.bendConstraint.Initiate(solver as IKSolverFullBody);
}
this.crossFades = new float[this.children.Length];
this.initiated = true;
}
/*
* Initiate the effector, set default values
* */
public void Initiate(IKSolver solver) {
this.solver = solver;
position = bone.position;
rotation = bone.rotation;
animatedPlaneRotation = Quaternion.identity;
// Getting the node
node = solver.GetPoint(bone) as IKSolver.Node;
// Child nodes
if (childNodes == null || childNodes.Length != childBones.Length) childNodes = new IKSolver.Node[childBones.Length];
for (int i = 0; i < childBones.Length; i++) {
childNodes[i] = solver.GetPoint(childBones[i]) as IKSolver.Node;
}
if (localPositions == null || localPositions.Length != childBones.Length) localPositions = new Vector3[childBones.Length];
// Plane nodes
usePlaneNodes = false;
if (planeBone1 != null) {
planeNode1 = solver.GetPoint(planeBone1) as IKSolver.Node;
if (planeBone2 != null) {
planeNode2 = solver.GetPoint(planeBone2) as IKSolver.Node;
if (planeBone3 != null) {
planeNode3 = solver.GetPoint(planeBone3) as IKSolver.Node;
usePlaneNodes = true;
}
}
isEndEffector = true;
} else isEndEffector = false;
}
public void Initiate(Transform transform, IKSolver solver) {
this.transform = transform;
IKSolver.Point point = solver.GetPoint(transform);
if (point != null) this.node = point as IKSolver.Node;
}
/*
* Sets the 3 points defining a plane for this bone
* */
public void SetPlane(IKSolver.Node planeNode1, IKSolver.Node planeNode2, IKSolver.Node planeNode3) {
this.planeNode1 = planeNode1;
this.planeNode2 = planeNode2;
this.planeNode3 = planeNode3;
UpdatePlane(true, true);
}
/*
* Set nodes to the following bone transforms.
* */
public void SetNodes(params Transform[] boneTransforms) {
nodes = new IKSolver.Node[boneTransforms.Length];
for (int i = 0; i < boneTransforms.Length; i++) {
nodes[i] = new IKSolver.Node(boneTransforms[i]);
}
}
} // 0x00000001809A67C0-0x00000001809A6800
public void FixToNode(IKSolverFullBody solver, float weight, IKSolver.Node fixNode = null)
{
} // 0x00000001809A55C0-0x00000001809A57A0
/*
* Calculates the bend direction based on the law of cosines (from IKSolverTrigonometric).
* */
protected Vector3 GetBendDirection(Vector3 direction, float directionMagnitude, IKSolver.Node node1, IKSolver.Node node2)
{
float sqrMag1 = node1.length * node1.length;
float sqrMag2 = node2.length * node2.length;
float x = ((directionMagnitude * directionMagnitude) + sqrMag1 - sqrMag2) / 2f / directionMagnitude;
float y = (float)Math.Sqrt(Mathf.Clamp(sqrMag1 - x * x, 0, Mathf.Infinity));
return(Quaternion.LookRotation(direction) * new Vector3(0f, y, x));
}
} // 0x000000018052DEA0-0x000000018052DF30
private void SolveLinearConstraint(IKSolver.Node node1, IKSolver.Node node2, float crossFade, float distance)
{
} // 0x000000018052E460-0x000000018052E6E0
