private IKLink point(IKLink link, IKTarget target)
{
return link;
}
private static void destroyLinks(IKLink[] links)
{
if(links.Length > 0) GameObject.Destroy(links[0].transform.gameObject);
}
private static Quaternion constrainCone(Quaternion quat, IKLink link)
{
// Debug.Log(link.transform.name);
if (!link.segRef.Constrain) return quat;
Quaternion baseQuat = link.segRef.GetBaseRotation();
float error = 360;
int iterations = 1;
while (error > 0.5f && iterations < 10) {
Vector3 center = baseQuat * Vector3.up;
Vector3 expected = quat * Vector3.up;
float angle = Vector3.Angle(center, expected);
// Debug.LogFormat("{0} {1}", link.segRef.ConeRadius, angle);
if(angle > link.segRef.ConeRadius) {
quat = Quaternion.Slerp(Quaternion.identity, quat, 1 - iterations*0.1f);
} else {
//Debug.Log("DONE");
break;
}
iterations++;
}
return quat;
}
private static IKLink[] createLinks(IKSegment[] segments, Transform effector, out Transform contact)
{
IKLink[] links = new IKLink[segments.Length];
IKLink previous = null;
for(int i = 0; i < links.Length; i++) {
links[i] = new IKLink(segments[i]);
if(previous != null) {
//Debug.LogFormat("from {0} to {1}", previous.transform.name, links[i].transform.name);
connectTransform(previous.segRef.transform, links[i].segRef.transform, links[i].transform, previous.transform);
} else {
links[i].transform.SetParent(segments[0].transform.parent);
}
previous = links[i];
}
GameObject go = new GameObject();
go.name = "Effector";
go.transform.SetParent(links[links.Length - 1].transform);
go.transform.position = effector.position;
go.transform.rotation = effector.rotation;
go.transform.localScale = effector.localScale;
contact = go.transform;
return links;
}
private static Quaternion constrainAxis(IKLink root, Vector3 axis, Vector3 angleAxis, Vector3 toChild, Vector3 dir, float min, float max, out float actualAngle)
{
actualAngle = IKMath.AngleOnPlane(dir, toChild, axis);
float angle = Mathf.Clamp(actualAngle, min, max);
//Debug.LogFormat("{2}: {0} {1}", actualAngle, angle, root.transform.name);
return Quaternion.AngleAxis(angle, angleAxis);
}