private void IKSolve(params TransDOF[] joints)
{
//带DOF的IK思路：把欧拉旋转拆分为三个旋转分量，像迭代关节一样按照旋转顺序进行循环下降迭代。
int c = jointIterCount;
while (c > 0)
{
foreach (var joi in joints)
{
astIK = joi;
iter = 0;
int c2 = axisIterCount;
while (true)
{
if (Iteration() || c2 <= 0)
{
iter++;
if (iter > 2)
{
break;
}
}
c2--;
}
}
c--;
}
}
public void AddCurve(TransDOF ast)
{
if (IndexOf(ast) != -1)
{
throw null;
}
if (ast.transform != null)
{
curves.Add(new CurveObj(ast));
}
}
public int IndexOf(TransDOF ast)
{
for (int i = 0; i < curves.Count; i++)
{
if (curves[i].ast == ast)
{
return(i);
}
}
return(-1);
}
public CurveObj GetCurve(TransDOF ast)
{
foreach (var curve in curves)
{
if (curve.ast == ast)
{
return(curve);
}
}
return(null);
}
public static void LimitDOF(TransDOF ast, DOF dof)
{
ast.euler = LimitDOF(ast.euler, dof);
}
public CurveObj this[TransDOF t]
{
get { return(GetCurve(t)); }
}
//public CurveObj(ASTransDOF ast) => this.ast = ast;
public CurveObj(TransDOF ast)
{
name = ast.transform.name; this.ast = ast; pos = new CurveXYZ(); rot = new CurveXYZ();
}
