public override void PreSolve()
{
if (target != null)
{
IKPosition = target.position;
IKRotation = target.rotation;
}
position = V3Tools.Lerp(hand.solverPosition, IKPosition, positionWeight);
rotation = QuaTools.Lerp(hand.solverRotation, IKRotation, rotationWeight);
shoulder.axis = shoulder.axis.normalized;
forearmRelToUpperArm = Quaternion.Inverse(upperArm.solverRotation) * forearm.solverRotation;
}
private void WriteTransforms()
{
for (int i = 0; i < solverTransforms.Length; i++)
{
if (solverTransforms[i] != null)
{
bool isRootOrPelvis = i < 2;
bool isArm = i > 5 && i < 14;
if (isRootOrPelvis || isArm)
{
solverTransforms[i].position = V3Tools.Lerp(solverTransforms[i].position, GetPosition(i), IKPositionWeight);
}
solverTransforms[i].rotation = QuaTools.Lerp(solverTransforms[i].rotation, GetRotation(i), IKPositionWeight);
}
}
}
public override void PreSolve()
{
if (headTarget != null)
{
IKPositionHead = headTarget.position;
IKRotationHead = headTarget.rotation;
}
if (chestGoal != null)
{
goalPositionChest = chestGoal.position;
}
if (pelvisTarget != null)
{
IKPositionPelvis = pelvisTarget.position;
IKRotationPelvis = pelvisTarget.rotation;
}
headPosition = V3Tools.Lerp(head.solverPosition, IKPositionHead, positionWeight);
headRotation = QuaTools.Lerp(head.solverRotation, IKRotationHead, rotationWeight);
}
