private void Trial() { var inputs = new RigidBoneSystemInputs(initialInputs); var frameUpdateParameters = new FrameUpdateParameters(0, 1 / 90f, null, Vector3.Zero); var goals = goalProvider.GetGoals(frameUpdateParameters, initialInputs, null); solver.Solve(rigidBoneSystem, goals, inputs); }
public void Update(FrameUpdateParameters updateParameters, ChannelInputs channelInputs, ControlVertexInfo[] previousFrameControlVertexInfos) { var channelOutputs = channelSystem.Evaluate(null, channelInputs); boneSystem.Synchronize(channelOutputs); var baseInputs = boneSystem.ReadInputs(channelOutputs); var resultInputs = boneSystem.ApplyDeltas(baseInputs, poseDeltas); List <InverseKinematicsGoal> goals = goalProvider.GetGoals(updateParameters, resultInputs, previousFrameControlVertexInfos); solver.Solve(boneSystem, goals, resultInputs); poseDeltas = boneSystem.CalculateDeltas(baseInputs, resultInputs); boneSystem.WriteInputs(channelInputs, channelOutputs, resultInputs); }