void Update()
{
if (target.position.y > 1.25f)
{
for (int i = 0; i < joints.Length; i++)
{
jointsPositions[i] = new MyVector3(joints[i].position.x, joints[i].position.y, joints[i].position.z);
}
targetPosition = new MyVector3(target.position.x, target.position.y, target.position.z);
// Copy the joints positions to work with
// and calculate all the distances
for (int i = 0; i < copy.Length; i++)
{
copy[i] = jointsPositions[i];
if (i < distances.Length)
{
distances[i] = (jointsPositions[i + 1] - jointsPositions[i]).magnitude();
}
}
done = (targetPosition - jointsPositions[jointsPositions.Length - 1]).magnitude() < threshold_distance;
if (!done)
{
float targetRootDist = MyVector3.Distance(copy[0], targetPosition);
// Update joint positions
if (targetRootDist > distances.Sum())
{
// The target is unreachable
for (int i = 0; i < copy.Length - 1; i++)
{
float dist = (targetPosition - copy[i]).magnitude();
float lam = distances[i] / dist;
copy[i + 1] = (1 - lam) * copy[i] + lam * targetPosition;
}
}
else
{
// The target is reachable
iter = 0;
while (!done /*|| iter < maxIter*/)
{
// STAGE 1: FORWARD REACHING
copy[copy.Length - 1] = targetPosition;
for (int i = copy.Length - 1; i > 0; i--)
{
MyVector3 temp = (copy[i - 1] - copy[i]).normalized();
temp = temp * distances[i - 1];
copy[i - 1] = temp + copy[i];
}
// STAGE 2: BACKWARD REACHING
copy[0] = jointsPositions[0];
for (int i = 0; i < copy.Length - 2; i++)
{
MyVector3 temp = (copy[i + 1] - copy[i]).normalized();
temp = temp * distances[i];
copy[i + 1] = temp + copy[i];
}
done = (targetPosition - copy[copy.Length - 1]).magnitude() < threshold_distance;
iter++;
}
}
// Update original joint rotations
for (int i = 0; i <= joints.Length - 2; i++)
{
MyVector3 a = jointsPositions[i + 1] - jointsPositions[i];
MyVector3 b = copy[i + 1] - copy[i];
MyVector3 axis = MyVector3.Cross(a, b).normalized();
float cosa = MyVector3.Dot(a, b) / (a.magnitude() * b.magnitude());
float sina = MyVector3.Cross(a.normalized(), b.normalized()).magnitude();
float angle = Mathf.Atan2(sina, cosa);
MyQuaternion q = new MyQuaternion(Mathf.Cos(angle / 2), axis.x * Mathf.Sin(angle / 2), axis.y * Mathf.Sin(angle / 2), axis.z * Mathf.Sin(angle / 2));
MyQuaternion actualRot = new MyQuaternion(joints[i].rotation.w, joints[i].rotation.x, joints[i].rotation.y, joints[i].rotation.z);
MyQuaternion newRot = MyQuaternion.multiply(q, actualRot);
jointsPositions[i] = copy[i];
joints[i].position = new Vector3(jointsPositions[i].x, jointsPositions[i].y, jointsPositions[i].z);
joints[i].rotation = new Quaternion(newRot.x, newRot.y, newRot.z, newRot.w);
for (int j = i; j < joints.Length; j++) //Actualizar posiciones de los hijos despues de rotar
{
jointsPositions[j] = new MyVector3(joints[j].position.x, joints[j].position.y, joints[j].position.z);
}
}
}
}
}
