private void SetDirtySolversAffectedByTransform(Transform transform)
{
foreach (Solver2D solver in m_IKSolvers)
{
if (solver.isValid)
{
for (int i = 0; i < solver.chainCount; ++i)
{
var chain = solver.GetChain(i);
if (chain.effector == null)
{
continue;
}
if (!(IKUtility.IsDescendentOf(chain.effector, transform) && IKUtility.IsDescendentOf(chain.rootTransform, transform)) &&
(chain.effector == transform || IKUtility.IsDescendentOf(chain.effector, transform) || IKUtility.IsDescendentOf(chain.target, transform)))
{
SetSolverDirty(solver);
break;
}
}
}
}
}
private void SetDirtyUnderHierarchy(Transform hierarchyRoot)
{
if (hierarchyRoot == null)
{
return;
}
foreach (Solver2D solver in m_IKSolvers)
{
if (solver.isValid)
{
for (int i = 0; i < solver.chainCount; ++i)
{
var chain = solver.GetChain(i);
if (chain.effector == null)
{
continue;
}
if (hierarchyRoot == chain.effector ||
IKUtility.IsDescendentOf(chain.effector, hierarchyRoot) ||
IKUtility.IsDescendentOf(chain.target, hierarchyRoot))
{
SetSolverDirty(solver);
break;
}
}
}
}
}
public static IEnumerable <Quaternion[]> InverseKinematicsIterator(Bone[] bones, Vector3 position, float step, float delta, int iteration)
{
var rotations = new Quaternion[bones.Length];
for (var i = 0; i < bones.Length; i++)
{
rotations[i] = bones[i].transform.localRotation;
}
var dFK = new float[bones.Length * 4];
for (var iterate = 0; iterate < iteration; iterate++)
{
for (var i = 0; i < bones.Length * 4; i++)
{
dFK[i] = IKUtility.FKDistanceDerivate(bones, rotations, position, i, delta);
}
for (var i = 0; i < bones.Length * 4; i++)
{
int idxBone = i / 4;
int idxQuaternion = i % 4;
rotations[idxBone][idxQuaternion] -= step * dFK[i];
}
yield return(rotations);
}
}
public void GetChainCountForOtherChildGO_IsCorrect()
{
var ikGO = new GameObject();
var solver = ikGO.AddComponent <FabrikSolver2D>();
var chain = solver.GetChain(0);
chain.target = otherChildGO.transform;
Assert.AreEqual(2, IKUtility.GetMaxChainCount(chain));
UnityEngine.Object.Destroy(ikGO);
}
public override void OnInspectorGUI()
{
IKChain2D chain = m_Solver.GetChain(0);
serializedObject.Update();
EditorGUILayout.PropertyField(m_EffectorProperty, Contents.effectorLabel);
EditorGUILayout.PropertyField(m_TargetProperty, Contents.targetLabel);
EditorGUILayout.IntSlider(m_TransformCountProperty, 0, IKUtility.GetMaxChainCount(chain), Contents.chainLengthLabel);
EditorGUILayout.PropertyField(m_IterationsProperty, Contents.iterationsLabel);
EditorGUILayout.PropertyField(m_ToleranceProperty, Contents.toleranceLabel);
DrawCommonSolverInspector();
serializedObject.ApplyModifiedProperties();
}
public void RootGO_IsNotDescendentOfChildGO()
{
var result = IKUtility.IsDescendentOf(rootGO.transform, childGO.transform);
Assert.AreEqual(false, result);
}
public void GrandChildGO_IsNotDescendentOfOtherChildGO()
{
var result = IKUtility.IsDescendentOf(grandChildGO.transform, otherChildGO.transform);
Assert.AreEqual(false, result);
}
public void OtherChildGO_IsDescendentOfOtherGO()
{
var result = IKUtility.IsDescendentOf(otherChildGO.transform, otherGO.transform);
Assert.AreEqual(true, result);
}
public void GrandChildGO_IsDescendentOfRootGO()
{
var result = IKUtility.IsDescendentOf(grandChildGO.transform, rootGO.transform);
Assert.AreEqual(true, result);
}
public void RootGO_HasNoAncestors()
{
var result = IKUtility.GetAncestorCount(rootGO.transform);
Assert.AreEqual(0, result);
}
public void ChildGO_HasOneAncestor()
{
var result = IKUtility.GetAncestorCount(childGO.transform);
Assert.AreEqual(1, result);
}
public void GrandChildGO_HasTwoAncestors()
{
var result = IKUtility.GetAncestorCount(grandChildGO.transform);
Assert.AreEqual(2, result);
}
protected override void DoInitialize()
{
chain.transformCount = chain.effector == null || IKUtility.GetAncestorCount(chain.effector) < 1 ? 0 : 2;
base.DoInitialize();
}
