/// <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(); }
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]); }