// Token: 0x06002729 RID: 10025 RVA: 0x000B53B4 File Offset: 0x000B35B4
private static void FollowParent(Core.KinematicChain chain)
{
for (int i = 1; i < chain.joints.Count; i++)
{
Vector3 a = chain.joints[i].pos - chain.prevPos[i];
float d = 6f * Mathf.Pow((float)(chain.joints.Count * i), 2f) - 4f * (float)chain.joints.Count * Mathf.Pow((float)i, 3f) + Mathf.Pow((float)i, 4f);
Vector3 b = chain.gravity * d / (chain.momentOfInteria * (float)chain.joints.Count * 12f);
float time = (float)i / ((float)chain.joints.Count - 1f);
float num = chain.solverFallOff.Evaluate(time) * chain.weight;
float d2 = (chain.torsionDamping != 0f) ? (Mathf.Sin(num * 1.5707964f) * Mathf.Exp(-chain.torsionDamping * num)) : 1f;
chain.prevPos[i] = chain.joints[i].pos;
chain.joints[i].pos += a * d2;
chain.joints[i].pos += b;
chain.prevPos[0] = chain.joints[0].pos;
chain.joints[0].pos = chain.joints[0].joint.position;
float length = chain.joints[i - 1].length;
Vector3 a2 = chain.joints[i].joint.position + (chain.joints[i - 1].pos - chain.joints[i - 1].joint.position) - chain.joints[i].pos;
chain.joints[i].pos += a2 * (1f - chain.weight);
Vector3 a3 = a2 * (2f - chain.weight);
float magnitude = a3.magnitude;
float num2 = length * -chain.stiffness * num;
Vector3 b2 = a3 * (Mathf.Max(magnitude - num2, 0f) / Mathf.Max(1f, magnitude));
chain.joints[i].pos += b2;
Vector3 a4 = chain.joints[i - 1].pos - chain.joints[i].pos;
float magnitude2 = a4.magnitude;
chain.joints[i].pos += a4 * ((magnitude2 - length) / Mathf.Max(magnitude2, 1f));
chain.joints[i].pos = Vector3.Lerp(chain.joints[i].joint.position, chain.joints[i].pos, chain.joints[i].weight);
}
}
// Token: 0x06002728 RID: 10024 RVA: 0x000B5390 File Offset: 0x000B3590
public static void Process(Core.KinematicChain chain)
{
if (!chain.initiated)
{
chain.InitiateJoints();
}
chain.MapVirtualJoints();
ChainKinematicSolver.FollowParent(chain);
ChainKinematicSolver.MapSolverOutput(chain);
}
// Token: 0x0600272A RID: 10026 RVA: 0x000B5748 File Offset: 0x000B3948
private static void MapSolverOutput(Core.KinematicChain chain)
{
for (int i = 1; i < chain.joints.Count; i++)
{
Vector3 target = GenericMath.TransformVector(chain.joints[i - 1].localAxis, chain.joints[i - 1].rot);
Quaternion qA = GenericMath.RotateFromTo(chain.joints[i].pos - chain.joints[i - 1].pos, target);
chain.joints[i - 1].rot = GenericMath.ApplyQuaternion(qA, chain.joints[i - 1].rot);
chain.joints[i - 1].ApplyVirtualMap(false, true);
chain.joints[i].ApplyVirtualMap(true, false);
chain.joints[i - 1].ApplyRestrictions();
chain.joints[i].ApplyRestrictions();
}
}
/// <summary>
/// Calculate joints position
/// </summary>
/// <param name="chain"></param>
private static void FollowParent(Core.KinematicChain chain)
{
//calculate the new pos based on velocity and gravity
for (int i = 1; i < chain.joints.Count; i++)
{
Vector3 drag = (chain.joints[i].pos - chain.prevPos[i]);
//Derived on paper using the Bending differential equations
float bendingFalloff = 6f * Pow(chain.joints.Count * i, 2) - 4f * chain.joints.Count * Pow(i, 3) + Pow(i, 4);
Vector3 g = chain.gravity * bendingFalloff / (chain.momentOfInteria * chain.joints.Count * 12f); //gravity must be fixed and not controlled by the solver fall off
//calculate the solver fall off and its effects
float t = i / (chain.joints.Count - 1f);
float eval = chain.solverFallOff.Evaluate(t) * chain.weight;
float velocityMag = chain.torsionDamping != 0f ? Mathf.Sin(eval * (Mathf.PI / 2f)) * Mathf.Exp(-chain.torsionDamping * eval) : 1f; //maybe the user doesnt want damping at all
chain.prevPos[i] = chain.joints[i].pos; //reset
chain.joints[i].pos += drag * velocityMag; //apply drag
chain.joints[i].pos += g; //apply gravity
//Keep the root up to date
chain.prevPos[0] = chain.joints[0].pos;
chain.joints[0].pos = chain.joints[0].joint.position;
float parentLength = chain.joints[i - 1].length;
Vector3 selfNextPos = chain.joints[i].joint.position + (chain.joints[i - 1].pos - chain.joints[i - 1].joint.position); //child's next pos relative to the parents momentum
Vector3 selfDrag = selfNextPos - chain.joints[i].pos; //how much drag to this bone was caused by the parent's influence
chain.joints[i].pos += selfDrag * (1 - chain.weight); //apply weight
//calculate stiffness
Vector3 clampedDrag = selfDrag * (2 - chain.weight);
float currDrag = clampedDrag.magnitude;
float maxDrag = parentLength * -chain.stiffness * eval;
Vector3 stiffnessOffset = clampedDrag * (Mathf.Max((currDrag - maxDrag), 0f) / Mathf.Max(1f, currDrag));
chain.joints[i].pos += stiffnessOffset; //apply stiffness
//finalise the chain
Vector3 chainDir = chain.joints[i - 1].pos - chain.joints[i].pos;
float length = chainDir.magnitude;
chain.joints[i].pos += chainDir * ((length - parentLength) / Mathf.Max(length, 1f));
chain.joints[i].pos = Vector3.Lerp(chain.joints[i].joint.position, chain.joints[i].pos, chain.joints[i].weight);
}
}