// Update the LimbIK solver and rotate the optional 3rd bone
public void Update(float masterWeight)
{
if (!initiated)
{
return;
}
float w = weight * masterWeight;
if (w <= 0f)
{
return;
}
solver.target = target;
if (target != null)
{
IKPosition = target.position;
IKRotation = target.rotation;
}
if (rotationDOF == DOF.One)
{
Quaternion q = Quaternion.FromToRotation(IKRotation * tipAxis, bone1.rotation * bone1Axis);
IKRotation = q * IKRotation;
}
// Rotate the 3rd bone
if (bone3 != null)
{
if (w * rotationWeight >= 1f)
{
bone3.rotation = IKRotation * bone3RelativeToTarget;
}
else
{
bone3.rotation = Quaternion.Lerp(bone3.rotation, IKRotation * bone3RelativeToTarget, w * rotationWeight);
}
}
// Update the LimbIK solver
solver.bendNormal = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position);
solver.IKPositionWeight = w;
solver.IKRotationWeight = rotationWeight;
solver.bendModifierWeight = rotationWeight;
solver.Update();
if (fixBone1Twist)
{
Quaternion bone2Rotation = bone2.rotation;
Quaternion space = Quaternion.LookRotation(bone1.rotation * bone1TwistAxis, bone2.position - bone1.position);
Vector3 bone1Twist = Quaternion.Inverse(space) * solver.bendNormal;
float angle = Mathf.Atan2(bone1Twist.x, bone1Twist.z) * Mathf.Rad2Deg;
bone1.rotation = Quaternion.AngleAxis(angle, bone2.position - bone1.position) * bone1.rotation;
bone2.rotation = bone2Rotation;
}
}
// Update the LimbIK solver and rotate the optional 3rd bone
public void Update(float masterWeight)
{
if (!initiated)
{
return;
}
float w = weight * masterWeight;
if (w <= 0f)
{
return;
}
solver.target = target;
if (target != null)
{
IKPosition = target.position;
IKRotation = target.rotation;
}
if (rotationDOF == DOF.One)
{
Quaternion q = Quaternion.FromToRotation(IKRotation * tipAxis, bone1.rotation * bone1Axis);
IKRotation = q * IKRotation;
}
// Rotate the 3rd bone
if (bone3 != null)
{
if (w * rotationWeight >= 1f)
{
bone3.rotation = IKRotation * bone3RelativeToTarget;
}
else
{
bone3.rotation = Quaternion.Lerp(bone3.rotation, IKRotation * bone3RelativeToTarget, w * rotationWeight);
}
}
// Update the LimbIK solver
solver.IKPositionWeight = w;
solver.IKRotationWeight = rotationWeight;
solver.bendModifierWeight = rotationWeight;
solver.Update();
}
// Update the LimbIK solver and rotate the optional 3rd bone
public void Update(float masterWeight)
{
if (!initiated)
{
return;
}
float w = weight * masterWeight;
if (w <= 0f)
{
return;
}
solver.target = target;
if (target != null)
{
IKPosition = target.position;
IKRotation = target.rotation;
}
// Rotate the 3rd bone
if (bone3 != null)
{
if (w >= 1f)
{
bone3.rotation = IKRotation * bone3RelativeToTarget;
}
else
{
bone3.rotation = Quaternion.Lerp(bone3.rotation, IKRotation * bone3RelativeToTarget, w);
}
}
// Update the LimbIK solver
solver.IKPositionWeight = w;
solver.Update();
}
