public void Initiate(IKSolverFullBody solver)
{
this.position = this.bone.position;
this.rotation = this.bone.rotation;
this.animatedPlaneRotation = Quaternion.identity;
solver.GetChainAndNodeIndexes(this.bone, out this.chainIndex, out this.nodeIndex);
this.childChainIndexes = new int[this.childBones.Length];
this.childNodeIndexes = new int[this.childBones.Length];
for (int i = 0; i < this.childBones.Length; i++)
{
solver.GetChainAndNodeIndexes(this.childBones[i], out this.childChainIndexes[i], out this.childNodeIndexes[i]);
}
this.localPositions = new Vector3[this.childBones.Length];
this.usePlaneNodes = false;
if (this.planeBone1 != null)
{
solver.GetChainAndNodeIndexes(this.planeBone1, out this.plane1ChainIndex, out this.plane1NodeIndex);
if (this.planeBone2 != null)
{
solver.GetChainAndNodeIndexes(this.planeBone2, out this.plane2ChainIndex, out this.plane2NodeIndex);
if (this.planeBone3 != null)
{
solver.GetChainAndNodeIndexes(this.planeBone3, out this.plane3ChainIndex, out this.plane3NodeIndex);
this.usePlaneNodes = true;
}
}
this.isEndEffector = true;
}
else
{
this.isEndEffector = false;
}
}
public void SetPlane(IKSolverFullBody solver, Transform planeBone1, Transform planeBone2, Transform planeBone3)
{
this.planeBone1 = planeBone1;
this.planeBone2 = planeBone2;
this.planeBone3 = planeBone3;
solver.GetChainAndNodeIndexes(planeBone1, out this.plane1ChainIndex, out this.plane1NodeIndex);
solver.GetChainAndNodeIndexes(planeBone2, out this.plane2ChainIndex, out this.plane2NodeIndex);
solver.GetChainAndNodeIndexes(planeBone3, out this.plane3ChainIndex, out this.plane3NodeIndex);
this.UpdatePlane(true, true);
}
public void Initiate(IKSolverFullBody solver)
{
solver.GetChainAndNodeIndexes(this.bone1, out this.chainIndex1, out this.nodeIndex1);
solver.GetChainAndNodeIndexes(this.bone2, out this.chainIndex2, out this.nodeIndex2);
solver.GetChainAndNodeIndexes(this.bone3, out this.chainIndex3, out this.nodeIndex3);
this.direction = this.OrthoToBone1(solver, this.OrthoToLimb(solver, this.bone2.position - this.bone1.position));
this.defaultLocalDirection = Quaternion.Inverse(this.bone1.rotation) * this.direction;
Vector3 point = Vector3.Cross((this.bone3.position - this.bone1.position).normalized, this.direction);
this.defaultChildDirection = Quaternion.Inverse(this.bone3.rotation) * point;
this.initiated = true;
}
/*
* Initiate the effector, set default values
* */
public void Initiate(IKSolverFullBody solver)
{
position = bone.position;
rotation = bone.rotation;
animatedPlaneRotation = Quaternion.identity;
// Getting the node
solver.GetChainAndNodeIndexes(bone, out chainIndex, out nodeIndex);
// Child nodes
childChainIndexes = new int[childBones.Length];
childNodeIndexes = new int[childBones.Length];
for (int i = 0; i < childBones.Length; i++)
{
solver.GetChainAndNodeIndexes(childBones[i], out childChainIndexes[i], out childNodeIndexes[i]);
}
localPositions = new Vector3[childBones.Length];
// Plane nodes
usePlaneNodes = false;
Debug.Log("bone = " + bone.name);
//Debug.Log("target = " + target.name);
for (int i = 0; i < childBones.Length; i++)
{
Debug.Log("childBones = " + childBones[i].name);
}
if (planeBone1 != null)
{
solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex);
Debug.Log("planeBone1 = " + planeBone1.name);
if (planeBone2 != null)
{
solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex);
Debug.Log("planeBone2 = " + planeBone2.name);
if (planeBone3 != null)
{
solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex);
Debug.Log("planeBone3 = " + planeBone3.name);
usePlaneNodes = true;
}
}
isEndEffector = true;
}
else
{
isEndEffector = false;
}
}
//private IKSolver.Node planeNode1, planeNode2, planeNode3;
public void Initiate(Transform transform, IKSolverFullBody solver) {
this.transform = transform;
solver.GetChainAndNodeIndexes(transform, out chainIndex, out nodeIndex);
//IKSolver.Point point = solver.GetPoint(transform);
//this.node = point as IKSolver.Node;
}
//private IKSolver.Node planeNode1, planeNode2, planeNode3;
public void Initiate(Transform transform, IKSolverFullBody solver)
{
this.transform = transform;
solver.GetChainAndNodeIndexes(transform, out chainIndex, out nodeIndex);
//IKSolver.Point point = solver.GetPoint(transform);
//this.node = point as IKSolver.Node;
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver)
{
solver.GetChainAndNodeIndexes(bone1, out chainIndex1, out nodeIndex1);
solver.GetChainAndNodeIndexes(bone2, out chainIndex2, out nodeIndex2);
solver.GetChainAndNodeIndexes(bone3, out chainIndex3, out nodeIndex3);
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(solver, OrthoToLimb(solver, bone2.position - bone1.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(bone1.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((bone3.position - bone1.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(bone3.rotation) * defaultNormal;
initiated = true;
}
/*
* Sets the 3 points defining a plane for this bone
* */
public void SetPlane(IKSolverFullBody solver, Transform planeBone1, Transform planeBone2, Transform planeBone3)
{
this.planeBone1 = planeBone1;
this.planeBone2 = planeBone2;
this.planeBone3 = planeBone3;
Debug.Log("planeBone1!!!!!!!!!!!!!!!!!! = " + planeBone1.name);
Debug.Log("planeBone2!!!!!!!!!!!!!!!!! = " + planeBone2.name);
Debug.Log("planeBone3 !!!!!!!!!!!!!!!= " + planeBone3.name);
solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex);
solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex);
solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex);
//this.planeNode1 = planeNode1;
//this.planeNode2 = planeNode2;
//this.planeNode3 = planeNode3;
UpdatePlane(true, true);
}
/*
* Initiate the constraint and set defaults
* */
public void Initiate(IKSolverFullBody solver) {
solver.GetChainAndNodeIndexes(bone1, out chainIndex1, out nodeIndex1);
solver.GetChainAndNodeIndexes(bone2, out chainIndex2, out nodeIndex2);
solver.GetChainAndNodeIndexes(bone3, out chainIndex3, out nodeIndex3);
// Find the default bend direction orthogonal to the chain direction
direction = OrthoToBone1(solver, OrthoToLimb(solver, bone2.position - bone1.position));
// Default bend direction relative to the first node
defaultLocalDirection = Quaternion.Inverse(bone1.rotation) * direction;
// Default plane normal
Vector3 defaultNormal = Vector3.Cross((bone3.position - bone1.position).normalized, direction);
// Default plane normal relative to the third node
defaultChildDirection = Quaternion.Inverse(bone3.rotation) * defaultNormal;
initiated = true;
}
public void Initiate(Transform transform, IKSolverFullBody solver)
{
this.transform = transform;
solver.GetChainAndNodeIndexes(transform, out this.chainIndex, out this.nodeIndex);
}
/*
* Initiate the effector, set default values
* */
public void Initiate(IKSolverFullBody solver) {
position = bone.position;
rotation = bone.rotation;
animatedPlaneRotation = Quaternion.identity;
// Getting the node
solver.GetChainAndNodeIndexes(bone, out chainIndex, out nodeIndex);
// Child nodes
childChainIndexes = new int[childBones.Length];
childNodeIndexes = new int[childBones.Length];
for (int i = 0; i < childBones.Length; i++) {
solver.GetChainAndNodeIndexes(childBones[i], out childChainIndexes[i], out childNodeIndexes[i]);
}
localPositions = new Vector3[childBones.Length];
// Plane nodes
usePlaneNodes = false;
if (planeBone1 != null) {
solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex);
if (planeBone2 != null) {
solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex);
if (planeBone3 != null) {
solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex);
usePlaneNodes = true;
}
}
isEndEffector = true;
} else isEndEffector = false;
}
/*
* Sets the 3 points defining a plane for this bone
* */
public void SetPlane(IKSolverFullBody solver, Transform planeBone1, Transform planeBone2, Transform planeBone3) {
this.planeBone1 = planeBone1;
this.planeBone2 = planeBone2;
this.planeBone3 = planeBone3;
solver.GetChainAndNodeIndexes(planeBone1, out plane1ChainIndex, out plane1NodeIndex);
solver.GetChainAndNodeIndexes(planeBone2, out plane2ChainIndex, out plane2NodeIndex);
solver.GetChainAndNodeIndexes(planeBone3, out plane3ChainIndex, out plane3NodeIndex);
//this.planeNode1 = planeNode1;
//this.planeNode2 = planeNode2;
//this.planeNode3 = planeNode3;
UpdatePlane(true, true);
}