private static void DrawPose(AimPoser.Pose pose, Vector3 position, Quaternion rotation, Color color)
{
if (pose.pitch <= 0f || pose.yaw <= 0f)
{
return;
}
if (pose.direction == Vector3.zero)
{
return;
}
Handles.color = color;
GUI.color = color;
Vector3 up = rotation * Vector3.up;
Vector3 normalizedPoseDirection = pose.direction.normalized;
Vector3 direction = rotation * normalizedPoseDirection;
// Direction and label
Handles.DrawLine(position, position + direction);
Inspector.ConeCap(0, position + direction, Quaternion.LookRotation(direction), 0.05f);
Handles.Label(position + direction.normalized * 1.1f, pose.name);
if (pose.yaw >= 180f && pose.pitch >= 180f)
{
Handles.color = Color.white;
GUI.color = Color.white;
return;
}
Quaternion halfYaw = Quaternion.AngleAxis(pose.yaw, up);
float directionPitch = Vector3.Angle(up, direction);
Vector3 crossRight = halfYaw * Vector3.Cross(up, direction);
Vector3 crossLeft = Quaternion.Inverse(halfYaw) * Vector3.Cross(up, direction);
bool isVertical = normalizedPoseDirection == Vector3.up || normalizedPoseDirection == Vector3.down;
if (isVertical)
{
crossRight = halfYaw * Vector3.right;
crossLeft = Quaternion.Inverse(halfYaw) * Vector3.right;
}
float minPitch = Mathf.Clamp(directionPitch - pose.pitch, 0f, 180f);
float maxPitch = Mathf.Clamp(directionPitch + pose.pitch, 0f, 180f);
Quaternion upToCornerUpperRight = Quaternion.AngleAxis(minPitch, crossRight);
Quaternion upToCornerLowerRight = Quaternion.AngleAxis(maxPitch, crossRight);
Quaternion upToCornerUpperLeft = Quaternion.AngleAxis(minPitch, crossLeft);
Quaternion upToCornerLowerLeft = Quaternion.AngleAxis(maxPitch, crossLeft);
Vector3 toCornerUpperRight = upToCornerUpperRight * up;
Vector3 toCornerLowerRight = upToCornerLowerRight * up;
Vector3 toCornerUpperLeft = upToCornerUpperLeft * up;
Vector3 toCornerLowerLeft = upToCornerLowerLeft * up;
if (pose.yaw < 180f)
{
Handles.DrawLine(position, position + toCornerUpperRight);
Handles.DrawLine(position, position + toCornerUpperLeft);
Handles.DrawLine(position, position + toCornerLowerRight);
Handles.DrawLine(position, position + toCornerLowerLeft);
}
Vector3 d = direction;
if (isVertical)
{
d = Vector3.forward;
}
if (pose.pitch < 180f)
{
DrawPolyLineOnSphere(position, toCornerUpperLeft, toCornerUpperRight, d, Vector3.up, color);
DrawPolyLineOnSphere(position, toCornerLowerLeft, toCornerLowerRight, d, Vector3.up, color);
}
if (pose.yaw < 180f)
{
DrawPolyLineOnSphere(position, toCornerUpperLeft, toCornerLowerLeft, Quaternion.Inverse(halfYaw) * d, crossLeft, color);
DrawPolyLineOnSphere(position, toCornerUpperRight, toCornerLowerRight, halfYaw * d, crossRight, color);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
//Draws the scene view helpers for AimIKJ
public static void AddScene(AimIKJ ik, Color color, bool modifiable)
{
// Protect from null reference errors
if (ik.aimTransform == null)
{
return;
}
if (Application.isPlaying && !ik.initiated)
{
return;
}
foreach (Transform bone in ik.bones)
{
if (bone == null)
{
return;
}
}
Handles.color = color;
GUI.color = color;
// Display the bones
for (int i = 0; i < ik.bones.Length; i++)
{
if (i < ik.bones.Length - 1)
{
Handles.DrawLine(ik.bones[i].position, ik.bones[i + 1].position);
}
Inspector.SphereCap(0, ik.bones[i].transform.position, Quaternion.identity, IKSolverInspector.GetHandleSize(ik.bones[i].position));
}
if (ik.axis != Vector3.zero)
{
Inspector.ConeCap(0, ik.aimTransform.position, Quaternion.LookRotation(ik.aimTransform.rotation * ik.axis), IKSolverInspector.GetHandleSize(ik.aimTransform.position) * 2f);
}
// Selecting joint and manipulating IKPosition
if (Application.isPlaying && ik.weight > 0)
{
if (ik.target != null)
{
// Inspector.SphereCap(0, ik.target.position, Quaternion.identity, IKSolverInspector.GetHandleSize(ik.target.position));
Handles.DrawLine(ik.aimTransform.position, ik.target.position);
if (Inspector.SphereButton(ik.target.position, Quaternion.identity, IKSolverInspector.GetHandleSize(ik.target.position), IKSolverInspector.GetHandleSize(ik.target.position)))
{
Selection.activeGameObject = ik.target.gameObject;
}
}
// Draw a transparent line from transform to IKPosition
Handles.color = new Color(color.r, color.g, color.b, color.a * ik.weight);
Handles.DrawLine(ik.bones[ik.bones.Length - 1].position, ik.aimTransform.position);
}
Handles.color = color;
// Pole
if (Application.isPlaying && ik.poleWeight > 0f)
{
if (ik.poleTarget != null)
{
Inspector.SphereCap(0, ik.poleTarget.position, Quaternion.identity, IKSolverInspector.GetHandleSize(ik.poleTarget.position) * 0.5f);
Handles.DrawLine(ik.aimTransform.position, ik.poleTarget.position);
}
// Draw a transparent line from transform to polePosition
Handles.color = new Color(color.r, color.g, color.b, color.a * ik.poleWeight);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
/// <summary>
/// Draws the scene view helpers for IKSolverAim
/// </summary>
public static void AddScene(IKSolverAim solver, Color color, bool modifiable)
{
// Protect from null reference errors
if (solver.transform == null)
{
return;
}
if (Application.isPlaying && !solver.initiated)
{
return;
}
if (!Application.isPlaying)
{
string message = string.Empty;
if (!solver.IsValid(ref message))
{
return;
}
}
Handles.color = color;
GUI.color = color;
// Display the bones
for (int i = 0; i < solver.bones.Length; i++)
{
IKSolver.Bone bone = solver.bones[i];
if (i < solver.bones.Length - 1)
{
Handles.DrawLine(bone.transform.position, solver.bones[i + 1].transform.position);
}
Inspector.SphereCap(0, solver.bones[i].transform.position, Quaternion.identity, GetHandleSize(solver.bones[i].transform.position));
}
if (solver.axis != Vector3.zero)
{
Inspector.ConeCap(0, solver.transform.position, Quaternion.LookRotation(solver.transform.rotation * solver.axis), GetHandleSize(solver.transform.position) * 2f);
}
// Selecting joint and manipulating IKPosition
if (Application.isPlaying && solver.IKPositionWeight > 0)
{
if (modifiable)
{
Inspector.SphereCap(0, solver.IKPosition, Quaternion.identity, GetHandleSize(solver.IKPosition));
// Manipulating position
solver.IKPosition = Handles.PositionHandle(solver.IKPosition, Quaternion.identity);
}
// Draw a transparent line from transform to IKPosition
Handles.color = new Color(color.r, color.g, color.b, color.a * solver.IKPositionWeight);
Handles.DrawLine(solver.bones[solver.bones.Length - 1].transform.position, solver.transform.position);
Handles.DrawLine(solver.transform.position, solver.IKPosition);
}
Handles.color = color;
// Pole
if (Application.isPlaying && solver.poleWeight > 0f)
{
if (modifiable)
{
Inspector.SphereCap(0, solver.polePosition, Quaternion.identity, GetHandleSize(solver.IKPosition) * 0.5f);
// Manipulating position
solver.polePosition = Handles.PositionHandle(solver.polePosition, Quaternion.identity);
}
// Draw a transparent line from transform to polePosition
Handles.color = new Color(color.r, color.g, color.b, color.a * solver.poleWeight);
Handles.DrawLine(solver.transform.position, solver.polePosition);
}
Handles.color = Color.white;
GUI.color = Color.white;
}
