// Token: 0x0600272F RID: 10031 RVA: 0x000B58E8 File Offset: 0x000B3AE8 private Quaternion TwistAndSwing() { object obj = new Func <Quaternion, float, Quaternion>(delegate(Quaternion q, float x) { if (x == 0f) { return(Quaternion.identity); } float num2 = GenericMath.QuaternionAngle(Quaternion.identity, q); float t = Mathf.Clamp01(x / num2); return(Quaternion.Slerp(Quaternion.identity, q, t)); }); Func <float, float> func = (float x) => x * x; Quaternion quaternion = GenericMath.RotateFromTo(GenericMath.TransformVector(this.axis, this.joint.localRotation), this.axis); object obj2 = obj; Quaternion qB = obj2(quaternion, this.maxAngle); Quaternion quaternion2 = GenericMath.ApplyQuaternion(Quaternion.Inverse(quaternion), this.joint.localRotation); float num = Mathf.Sqrt(func(quaternion2.w) + func(quaternion2.x) + func(quaternion2.y) + func(quaternion2.z)); float w = quaternion2.w / num; float x2 = quaternion2.x / num; float y = quaternion2.y / num; float z = quaternion2.z / num; Quaternion qA = obj2(new Quaternion(x2, y, z, w), this.maxTwist); this.joint.localRotation = GenericMath.ApplyQuaternion(qA, qB); return(this.joint.localRotation); }
// Token: 0x06002752 RID: 10066 RVA: 0x000B64F8 File Offset: 0x000B46F8 public static void MapSolverOutput(Core.Chain chain) { for (int i = 0; i < chain.joints.Count - 1; i++) { Vector3 source = chain.joints[i + 1].pos - chain.joints[i].pos; Vector3 target = GenericMath.TransformVector(chain.joints[i].localAxis, chain.joints[i].rot); Quaternion qA = GenericMath.RotateFromTo(source, target); chain.joints[i].rot = GenericMath.ApplyQuaternion(qA, chain.joints[i].rot); chain.joints[i].ApplyVirtualMap(true, true); } }
// Token: 0x06003498 RID: 13464 RVA: 0x000E567C File Offset: 0x000E387C private static void Solve(Core.Chain chain, Transform endEffector, Vector3 LookAtAxis) { for (int i = 0; i < chain.joints.Count; i++) { Vector3 target = GenericMath.TransformVector(LookAtAxis, endEffector.rotation); Quaternion b = GenericMath.RotateFromTo(chain.GetIKtarget() - endEffector.position, target); Quaternion qA = Quaternion.Lerp(Quaternion.identity, b, chain.weight * chain.joints[i].weight); chain.joints[i].joint.rotation = GenericMath.ApplyQuaternion(qA, chain.joints[i].joint.rotation); chain.joints[i].ApplyRestrictions(); } }
/// <summary> /// Map the vitual solver's joints onto the physical ones /// </summary> /// <param name="chain"></param> public static void MapSolverOutput(Core.Chain chain) { for (int i = 0; i < chain.Joints.Count - 1; i++) { Vector3 _v1 = chain.Joints[i + 1].pos - chain.Joints[i].pos; Vector3 _v2 = GenericMath.TransformVector(chain.Joints[i].localAxis, chain.Joints[i].rot); Quaternion _offset = GenericMath.RotateFromTo(_v1, _v2); chain.Joints[i].rot = GenericMath.ApplyQuaternion(_offset, chain.Joints[i].rot); chain.Joints[i].ApplyVirtualMap(true, true); } }
// 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> /// Solve the chain to make the offset look at the target /// </summary> /// <param name="chain"></param> /// <param name="endEffector"></param> private static void Solve(Core.Chain chain, Transform endEffector, Vector3 LookAtAxis) { for (int i = 0; i < chain.Joints.Count; i++) { //Vector3 axis = GenericMath.TransformVector(LookAtAxis, Quaternion.Inverse(offsetObj.rotation)); Vector3 axis = GenericMath.TransformVector(LookAtAxis, endEffector.rotation); Quaternion delta = GenericMath.RotateFromTo(chain.GetIKTarget() - endEffector.position, axis); Quaternion final = Quaternion.Lerp(Quaternion.identity, delta, chain.Weight * chain.Joints[i].weight); chain.Joints[i].joint.rotation = GenericMath.ApplyQuaternion(final, chain.Joints[i].joint.rotation); chain.Joints[i].ApplyRestrictions(); } }
// Token: 0x06002730 RID: 10032 RVA: 0x000B5A1C File Offset: 0x000B3C1C private Quaternion SingleDegree() { Vector3 target = GenericMath.TransformVector(this.axis, this.joint.transform.localRotation); float num; Vector3 rhs; GenericMath.QuaternionToAngleAxis(GenericMath.ApplyQuaternion(GenericMath.RotateFromTo(this.axis, target), this.joint.localRotation), out num, out rhs); float x = this.hingLimit.x; float y = this.hingLimit.y; float num2 = Vector3.Dot(this.axis, rhs); num = GenericMath.Clamp(num * num2, x, y); this.joint.localRotation = GenericMath.QuaternionFromAngleAxis(num, this.axis); return(this.joint.localRotation); }
// Token: 0x060034AD RID: 13485 RVA: 0x000E5F50 File Offset: 0x000E4150 public static Vector3 GetConeNextPoint(Core.Joint joint, Vector3 obj) { if (GenericMath.ConeBounded(joint, obj)) { return(obj); } Vector3 pos = joint.pos; Vector3 v = obj - pos; Vector3 vector = GenericMath.TransformVector(joint.axis, joint.rot); float num = GenericMath.VectorsAngle(v, pos + vector); float num2 = Mathf.Cos(num * 0.017453292f) * v.magnitude; float d = num2 * (Mathf.Tan(num * 0.017453292f) - Mathf.Tan(joint.maxAngle * 0.017453292f)); Vector3 vector2 = joint.joint.position + GenericMath.TransformVector(vector * num2, joint.rot) - obj; float f = Vector3.Dot(joint.joint.position + GenericMath.TransformVector(vector, joint.rot), v.normalized); return((vector2.normalized * d + obj) * Mathf.Clamp01(Mathf.Sign(f)) + pos * Mathf.Clamp01(-Mathf.Sign(f))); }
/// <summary> /// Process a 2 bones chain with a specific "epsilon" value /// </summary> /// <param name="chain"></param> /// <param name="eps">a specific value, not bounded to the global Epsilon</param> public static void Process(Core.Chain chain, float eps) { if (chain.Initiated == false) { chain.InitiateJoints(); } if (chain.Joints.Count != 3) { Debug.LogError("The Analytical Solver only works with 3-joints(2 bones) chain configurations"); return; } Core.Joint A = chain.Joints[0]; Core.Joint B = chain.Joints[1]; Core.Joint C = chain.Joints[2]; Vector3 T = chain.GetIKTarget(); Vector3 AB = Vector3.Normalize(B.joint.position - A.joint.position); Vector3 AC = Vector3.Normalize(C.joint.position - A.joint.position); Vector3 CB = Vector3.Normalize(B.joint.position - C.joint.position); Vector3 TA = A.joint.position - T; float l_ab = A.length; float l_cb = B.length; float l_at = GenericMath.Clamp(TA.magnitude, eps, l_ab + l_cb - eps); float kneeCurrent = GenericMath.VectorsAngle(AB, CB); float kneeTarget = GenericMath.CosineRule(A.length, B.length, l_at); float kneeDelta = kneeTarget - kneeCurrent; Vector3 axis = GenericMath.TransformVector(Vector3.Normalize(Vector3.Cross(AC, AB)), Quaternion.Inverse(B.joint.rotation)); Quaternion q1 = Quaternion.AngleAxis(kneeDelta, axis); Quaternion knee = Quaternion.Lerp(B.joint.rotation, GenericMath.ApplyQuaternion(B.joint.rotation, q1), chain.Weight); B.joint.rotation = knee; Quaternion q2 = Quaternion.FromToRotation(A.joint.position - C.joint.position, TA); Quaternion thigh = Quaternion.Lerp(A.joint.rotation, GenericMath.ApplyQuaternion(q2, A.joint.rotation), chain.Weight); A.joint.rotation = thigh; }
/// <summary> /// The Full-Restricted motion limit /// </summary> /// <param name="_localRot"></param> /// <returns></returns> private Quaternion TwistAndSwing() { Func <Quaternion, float, Quaternion> LimitByAngle = (q, x) => { if (x == 0) { return(Quaternion.identity); } float angle = GenericMath.QuaternionAngle(Quaternion.identity, q); float t = Mathf.Clamp01(x / angle); Quaternion output = Quaternion.Slerp(Quaternion.identity, q, t); //lerp doesnt work :( return(output); }; Func <float, float> Sqr = x => x * x; Vector3 _localAxis = GenericMath.TransformVector(axis, joint.localRotation); //swing only quaternion Quaternion swing = GenericMath.RotateFromTo(_localAxis, axis); Quaternion limitedSwing = LimitByAngle(swing, maxAngle); //twist only quaternion Quaternion twist = GenericMath.ApplyQuaternion(Quaternion.Inverse(swing), joint.localRotation); //twist decomposition float qM = Mathf.Sqrt(Sqr(twist.w) + Sqr(twist.x) + Sqr(twist.y) + Sqr(twist.z)); float qw = twist.w / qM; float qx = twist.x / qM; float qy = twist.y / qM; float qz = twist.z / qM; Quaternion limitedTwist = LimitByAngle(new Quaternion(qx, qy, qz, qw), maxTwist); joint.localRotation = GenericMath.ApplyQuaternion(limitedTwist, limitedSwing); return(joint.localRotation); }
/// <summary> /// Limit the motion to 1 Degree of freedom /// </summary> /// <param name="_localRot"></param> /// <returns></returns> private Quaternion SingleDegree() { float angle; Vector3 axis; //Hinge only Quaternion Vector3 _localAxis = GenericMath.TransformVector(this.axis, joint.transform.localRotation); Quaternion _delta = GenericMath.RotateFromTo(this.axis, _localAxis); Quaternion _legalRot = GenericMath.ApplyQuaternion(_delta, joint.localRotation); GenericMath.QuaternionToAngleAxis(_legalRot, out angle, out axis); float min = hingLimit.x; float max = hingLimit.y; float dot = Vector3.Dot(this.axis, axis); //clamp values //angle = Mathf.Clamp(angle * dot, min, max); //Unity's Clamp gives NaN values in particular cases so use our own angle = GenericMath.Clamp(angle * dot, min, max); joint.localRotation = GenericMath.QuaternionFromAngleAxis(angle, this.axis); return(joint.localRotation); }
// Token: 0x060034AC RID: 13484 RVA: 0x000E5F08 File Offset: 0x000E4108 public static bool ConeBounded(Core.Joint joint, Vector3 obj) { float num = GenericMath.VectorsAngle(obj - joint.pos, joint.pos + GenericMath.TransformVector(joint.axis, joint.rot)); return(joint.maxAngle >= num); }
// Token: 0x060034AB RID: 13483 RVA: 0x000E5ED4 File Offset: 0x000E40D4 public static Vector3 GetLocalAxisToTarget(Transform self, Vector3 target) { Quaternion q = Quaternion.Inverse(self.rotation); return(GenericMath.TransformVector((target - self.position).normalized, q)); }