/// <summary> /// correct the orientation of the bones after the solve /// </summary> private void CorrectRotation() { for (int i = 0; i < chain.joints.Count - 1; i++) { //apply the new pos chain.joints[i].transform.position = chain.joints[i].solvePos; Vector3 _targetDir = chain.joints[i + 1].transform.position - chain.joints[i].transform.position; Quaternion _sourceRot = chain.joints[i].transform.rotation; Quaternion _targetRot = RootIK.RotateFromTo(RootIK.TransformVector(Vector3.up, _sourceRot), _targetDir); _targetRot = Quaternion.Inverse(_targetRot); chain.joints[i].transform.rotation = Quaternion.Lerp(_sourceRot, GenericMaths.ApplyQuaternion(_targetRot, _sourceRot), chain.weight); } //Bounce back to the 1st bone before the endeffector and correct its rotation Vector3 _t = chain.GetIKPosition() - chain.joints[chain.joints.Count - 2].transform.position; Vector3 _t2 = RootIK.TransformVector(Vector3.up, chain.joints[chain.joints.Count - 2].transform.rotation); Quaternion _s = chain.joints[chain.joints.Count - 2].transform.rotation; Quaternion _tr = RootIK.RotateFromTo(_t, _t2); chain.joints[chain.joints.Count - 2].transform.rotation = Quaternion.Lerp(_s, GenericMaths.ApplyQuaternion(_tr, _s), chain.weight); chain.joints[chain.joints.Count - 1].transform.rotation = chain.GetIKRotation(); //apply end effector rotation }
/// <summary> /// Solve the IK chain using CCD method /// </summary> /// <param name="_IKChain"></param> public void SolveCCD(RootIK.Chain _IKChain) { if (_IKChain.weight <= 0f) { return; } if (_IKChain.joints.Count <= 0) { return; } _IKChain.SetIKPosition(_IKChain.target ? Vector3.zero : _IKChain.GetIKPosition()); for (int j = 0; j < _IKChain.iterations; j++) { for (int i = _IKChain.joints.Count - 1; i >= 0; i--) { _IKChain.weight = Mathf.Clamp(_IKChain.weight, 0f, 1f); float _weight = _IKChain.weight * _IKChain.joints[i].weight; Vector3 _v0 = _IKChain.GetIKPosition() - _IKChain.joints[i].transform.position; Vector3 _v1 = _IKChain.joints[_IKChain.joints.Count - 1].transform.position - _IKChain.joints[i].transform.position; Quaternion _sourceRotation = _IKChain.joints[i].transform.rotation; Quaternion _targetRotation = Quaternion.Lerp(Quaternion.identity, RootIK.RotateFromTo(_v0, _v1), _weight); _IKChain.joints[i].transform.rotation = Quaternion.Lerp(_sourceRotation, GenericMaths.ApplyQuaternion(_targetRotation, _sourceRotation), _weight); } } _IKChain.joints[_IKChain.joints.Count - 1].transform.rotation = _IKChain.GetIKRotation(); }
/// <summary> /// Prepare the solver and solve the IK problem analytically with specific axis of rotation /// (the chain must contain 2 joints, no more and no less) /// </summary> /// <param name="_hingeChain">the chain</param> /// <param name="_direction">direction of the player</param> /// <param name="_axis">axis of rotation for the 2nd joint (the Hinge joint)</param> public void SolveAnalytically(RootIK.Chain _hingeChain, Vector3 _direction, Vector3 _axis) { if (_hingeChain.joints.Count > 3) { return; } if (_hingeChain.iterations <= 0) { return; } if (_hingeChain.joints.Count <= 0) { return; } //calculate bone length; upperLength = Vector3.Distance(_hingeChain.joints[0].transform.position, _hingeChain.joints[1].transform.position); lowerLength = Vector3.Distance(_hingeChain.joints[1].transform.position, _hingeChain.joints[2].transform.position); systemLength = Vector3.Distance(_hingeChain.joints[0].transform.position, _hingeChain.GetIKPosition()); //lowerjoint 1DOF float _angle = GenericMaths.Formula(upperLength, lowerLength, systemLength) + Mathf.PI * Mathf.Rad2Deg; if (_axis == Vector3.zero) { _axis = Vector3.Cross(RootIK.TransformVector(Vector3.up, _hingeChain.joints[1].transform.rotation), _direction); } else { _axis = Vector3.Cross(RootIK.TransformVector(_axis, _hingeChain.joints[1].transform.rotation), _direction); } Quaternion _src = _hingeChain.joints[1].transform.rotation; Quaternion _t = GenericMaths.QuaternionFromAngleAxis(_axis, _angle + Mathf.Acos(Mathf.Clamp(_src.w, -1f, 1f)) * 10f); Quaternion _finalRot = Quaternion.Lerp(Quaternion.identity, _t, _hingeChain.weight); _hingeChain.joints[1].transform.rotation = GenericMaths.ApplyQuaternion(_finalRot, _src); //Upperjoint 3DOF Vector3 _v1 = _hingeChain.GetIKPosition() - _hingeChain.joints[0].transform.position; Vector3 _v2 = _hingeChain.joints[2].transform.position - _hingeChain.joints[0].transform.position; Quaternion _src2 = _hingeChain.joints[0].transform.rotation; Quaternion _t2 = RootIK.RotateFromTo(_v2, _v1); Quaternion _finalRot2 = Quaternion.Lerp(Quaternion.identity, _t2, _hingeChain.weight); _hingeChain.joints[0].transform.rotation = GenericMaths.ApplyQuaternion(Quaternion.Inverse(_finalRot2), _src2); //foot 6DOF _hingeChain.GetEndEffector().rotation = _hingeChain.GetIKRotation(); }
private void FindGround() { for (int i = 0; i < 2; i++) { Vector3 _endEffector = i == 0 ? rightLeg.GetEndEffector().position : leftLeg.GetEndEffector().position; Ray _ray = new Ray(_endEffector + Vector3.up * maxStep, Vector3.down); RaycastHit _hit = new RaycastHit(); if (Physics.Raycast(_ray, out _hit, rayLength, solverLayer)) { Quaternion _ankleRot = RootIK.RotateFromTo(_hit.normal, RootIK.TransformVector(Vector3.up, Root().rotation)); rightLeg.SetIKRotation(i == 0 ? GenericMaths.ApplyQuaternion(_ankleRot, rightLeg.GetEndEffector().rotation) : rightLeg.GetIKRotation()); leftLeg.SetIKRotation(i == 1 ? GenericMaths.ApplyQuaternion(_ankleRot, leftLeg.GetEndEffector().rotation) : leftLeg.GetIKRotation()); IKTarget[i] = _hit.point; } } rightLeg.SetIKPosition(IKTarget[0]); leftLeg.SetIKPosition(IKTarget[1]); }