private void PrintBoneAngles()
{
var chain = chainManager.GetChain();
var baseBone = chain.GetBone(0);
var baseDir = baseBone.Direction;
//Debug.Log(baseDir);
Debug.DrawLine(baseBone.Tip.Position, baseBone.Tip.Position + baseDir, Color.red, 10000);
for (int i = 1; i < chain.BoneCount; i++)
{
var nextBone = chain.GetBone(i);
var nextDir = nextBone.Direction;
//Debug.Log(nextDir);
Quaternion relativeRot = Quaternion.FromToRotation(baseBone.Direction, nextBone.Direction);
float angle;
Vector3 axis;
relativeRot.ToAngleAxis(out angle, out axis);
Debug.Log("axis: " + axis + " angle: " + angle);
angle = Vector3.Angle(baseDir, nextDir);
Debug.Log(angle);
Debug.DrawLine(nextBone.Base.Position, nextBone.Base.Position + nextDir, Color.red, 10000);
baseDir = nextDir;
}
}
async Task OnBlockData(NodeBlockDataMessage message, NodeConnection connection)
{
var chainType = message.ChainType;
var blockId = message.BlockId;
var chainId = message.ChainId;
var chainIndex = message.ChainIndex;
var chain = _chainManager.GetChain(chainType, chainId, chainIndex);
if (chain == null || blockId <= chain.BlockStorage.LastStoredBlockId)
{
return;
}
if (message.BlockData != null)
{
await _node.SyncManager.HandleBlockData(message.BlockData, new HashSet <NodeConnection> {
connection
});
}
else
{
if (connection.NodeInfo.IsPublicEndPoint || connection.AutoConnect != null)
{
var client = new NodeClient(connection.NodeInfo.IsPublicEndPoint ? connection.NodeInfo.PublicEndPoint : connection.AutoConnect.EndPoint);
var blockData = (await client.DownloadBlockData(chainType, chainId, chainIndex, blockId)).Data;
if (blockData != null)
{
await _node.SyncManager.HandleBlockData(blockData, new HashSet <NodeConnection> {
connection
});
return;
}
}
_ = connection.Send(new NodeBlockDataRequestMessage(chainType, blockId, chain.ChainId, chainIndex)
{
SignKey = _node.NodeConfiguration.LocaleNodePrivateKey
});
}
}
private void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
show = !show;
}
if (Input.GetKeyDown(KeyCode.I))
{
// Apply IK
Chain c = visualizer.GetChain();
c.GetBone(1).Move(new Vector3(1, 0, 0));
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha1))
{
Chain c = visualizer.GetChain();
c.AttachBoneToParent(1);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha2))
{
Chain c = visualizer.GetChain();
c.AttachBoneToParent(1, false);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha3))
{
Chain c = visualizer.GetChain();
c.AttachBoneToChild(0);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.Alpha4))
{
Chain c = visualizer.GetChain();
c.AttachBoneToChild(0, false);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.F))
{
if (target == null)
{
return;
}
Chain c = visualizer.GetChain();
Chain_FABRIK.Solve(c, target);
visualizer.SetChain(c);
}
if (Input.GetKeyDown(KeyCode.A))
{
applyTransforms = !applyTransforms;
}
if (show)
{
visualizer.Show();
}
else
{
visualizer.Hide();
}
}
