public void ProcessAnimation(AnimationStream stream)
{
float w = jobWeight.Get(stream);
if (w > 0f)
{
AnimationStreamHandleUtility.ReadFloats(stream, sourceWeights, weightBuffer);
float sumWeights = AnimationRuntimeUtils.Sum(weightBuffer);
if (sumWeights < k_Epsilon)
{
AnimationRuntimeUtils.PassThrough(stream, driven);
return;
}
float weightScale = sumWeights > 1f ? 1f / sumWeights : 1f;
Vector3 currentWPos = driven.GetPosition(stream);
Vector3 accumPos = currentWPos;
for (int i = 0; i < sourceTransforms.Length; ++i)
{
var normalizedWeight = weightBuffer[i] * weightScale;
if (normalizedWeight < k_Epsilon)
{
continue;
}
ReadOnlyTransformHandle sourceTransform = sourceTransforms[i];
accumPos += (sourceTransform.GetPosition(stream) + sourceOffsets[i] - currentWPos) * normalizedWeight;
// Required to update handles with binding info.
sourceTransforms[i] = sourceTransform;
}
// Convert accumPos to local space
if (drivenParent.IsValid(stream))
{
drivenParent.GetGlobalTR(stream, out Vector3 parentWPos, out Quaternion parentWRot);
var parentTx = new AffineTransform(parentWPos, parentWRot);
accumPos = parentTx.InverseTransform(accumPos);
}
Vector3 currentLPos = driven.GetLocalPosition(stream);
if (Vector3.Dot(axesMask, axesMask) < 3f)
{
accumPos = AnimationRuntimeUtils.Lerp(currentLPos, accumPos, axesMask);
}
driven.SetLocalPosition(stream, Vector3.Lerp(currentLPos, accumPos + drivenOffset.Get(stream), w));
}
else
{
AnimationRuntimeUtils.PassThrough(stream, driven);
}
}
public void ProcessAnimation(AnimationStream stream)
{
float w = jobWeight.Get(stream);
if (w > 0f)
{
if (blendPosition.Get(stream))
{
Vector3 posBlend = Vector3.Lerp(
sourceA.GetPosition(stream) + sourceAOffset.translation,
sourceB.GetPosition(stream) + sourceBOffset.translation,
positionWeight.Get(stream)
);
driven.SetPosition(stream, Vector3.Lerp(driven.GetPosition(stream), posBlend, w));
}
else
{
driven.SetLocalPosition(stream, driven.GetLocalPosition(stream));
}
if (blendRotation.Get(stream))
{
Quaternion rotBlend = Quaternion.Lerp(
sourceA.GetRotation(stream) * sourceAOffset.rotation,
sourceB.GetRotation(stream) * sourceBOffset.rotation,
rotationWeight.Get(stream)
);
driven.SetRotation(stream, Quaternion.Lerp(driven.GetRotation(stream), rotBlend, w));
}
else
{
driven.SetLocalRotation(stream, driven.GetLocalRotation(stream));
}
}
else
{
AnimationRuntimeUtils.PassThrough(stream, driven);
}
}
public static void SolveTwoBoneIK(
AnimationStream stream,
ReadWriteTransformHandle root,
ReadWriteTransformHandle mid,
ReadWriteTransformHandle tip,
ReadOnlyTransformHandle target,
ReadOnlyTransformHandle hint,
float posWeight,
float rotWeight,
float hintWeight,
AffineTransform targetOffset
)
{
Vector3 aPosition = root.GetPosition(stream);
Vector3 bPosition = mid.GetPosition(stream);
Vector3 cPosition = tip.GetPosition(stream);
target.GetGlobalTR(stream, out Vector3 targetPos, out Quaternion targetRot);
Vector3 tPosition = Vector3.Lerp(cPosition, targetPos + targetOffset.translation, posWeight);
Quaternion tRotation = Quaternion.Lerp(tip.GetRotation(stream), targetRot * targetOffset.rotation, rotWeight);
bool hasHint = hint.IsValid(stream) && hintWeight > 0f;
Vector3 ab = bPosition - aPosition;
Vector3 bc = cPosition - bPosition;
Vector3 ac = cPosition - aPosition;
Vector3 at = tPosition - aPosition;
float abLen = ab.magnitude;
float bcLen = bc.magnitude;
float acLen = ac.magnitude;
float atLen = at.magnitude;
float oldAbcAngle = TriangleAngle(acLen, abLen, bcLen);
float newAbcAngle = TriangleAngle(atLen, abLen, bcLen);
// Bend normal strategy is to take whatever has been provided in the animation
// stream to minimize configuration changes, however if this is collinear
// try computing a bend normal given the desired target position.
// If this also fails, try resolving axis using hint if provided.
Vector3 axis = Vector3.Cross(ab, bc);
if (axis.sqrMagnitude < k_SqrEpsilon)
{
axis = hasHint ? Vector3.Cross(hint.GetPosition(stream) - aPosition, bc) : Vector3.zero;
if (axis.sqrMagnitude < k_SqrEpsilon)
{
axis = Vector3.Cross(at, bc);
}
if (axis.sqrMagnitude < k_SqrEpsilon)
{
axis = Vector3.up;
}
}
axis = Vector3.Normalize(axis);
float a = 0.5f * (oldAbcAngle - newAbcAngle);
float sin = Mathf.Sin(a);
float cos = Mathf.Cos(a);
Quaternion deltaR = new Quaternion(axis.x * sin, axis.y * sin, axis.z * sin, cos);
mid.SetRotation(stream, deltaR * mid.GetRotation(stream));
cPosition = tip.GetPosition(stream);
ac = cPosition - aPosition;
root.SetRotation(stream, QuaternionExt.FromToRotation(ac, at) * root.GetRotation(stream));
if (hasHint)
{
float acSqrMag = ac.sqrMagnitude;
if (acSqrMag > 0f)
{
bPosition = mid.GetPosition(stream);
cPosition = tip.GetPosition(stream);
ab = bPosition - aPosition;
ac = cPosition - aPosition;
Vector3 acNorm = ac / Mathf.Sqrt(acSqrMag);
Vector3 ah = hint.GetPosition(stream) - aPosition;
Vector3 abProj = ab - acNorm * Vector3.Dot(ab, acNorm);
Vector3 ahProj = ah - acNorm * Vector3.Dot(ah, acNorm);
float maxReach = abLen + bcLen;
if (abProj.sqrMagnitude > (maxReach * maxReach * 0.001f) && ahProj.sqrMagnitude > 0f)
{
Quaternion hintR = QuaternionExt.FromToRotation(abProj, ahProj);
hintR.x *= hintWeight;
hintR.y *= hintWeight;
hintR.z *= hintWeight;
root.SetRotation(stream, hintR * root.GetRotation(stream));
}
}
}
tip.SetRotation(stream, tRotation);
}
public void ProcessAnimation(AnimationStream stream)
{
float w = jobWeight.Get(stream);
if (w > 0f)
{
AnimationStreamHandleUtility.ReadFloats(stream, sourceWeights, weightBuffer);
float sumWeights = AnimationRuntimeUtils.Sum(weightBuffer);
if (sumWeights < k_Epsilon)
{
AnimationRuntimeUtils.PassThrough(stream, driven);
return;
}
float weightScale = sumWeights > 1f ? 1f / sumWeights : 1f;
Vector2 minMaxAngles = new Vector2(minLimit.Get(stream), maxLimit.Get(stream));
var drivenWPos = driven.GetPosition(stream);
var drivenLRot = driven.GetLocalRotation(stream);
var drivenParentInvRot = Quaternion.Inverse(drivenParent.GetRotation(stream));
Quaternion accumDeltaRot = QuaternionExt.zero;
var fromDir = drivenLRot * aimAxis;
float accumWeights = 0f;
for (int i = 0; i < sourceTransforms.Length; ++i)
{
var normalizedWeight = weightBuffer[i] * weightScale;
if (normalizedWeight < k_Epsilon)
{
continue;
}
ReadOnlyTransformHandle sourceTransform = sourceTransforms[i];
var toDir = drivenParentInvRot * (sourceTransform.GetPosition(stream) - drivenWPos);
if (toDir.sqrMagnitude < k_Epsilon)
{
continue;
}
var crossDir = Vector3.Cross(fromDir, toDir).normalized;
if (Vector3.Dot(axesMask, axesMask) < 3f)
{
crossDir = AnimationRuntimeUtils.Select(Vector3.zero, crossDir, axesMask).normalized;
if (Vector3.Dot(crossDir, crossDir) > k_Epsilon)
{
fromDir = AnimationRuntimeUtils.ProjectOnPlane(fromDir, crossDir);
toDir = AnimationRuntimeUtils.ProjectOnPlane(toDir, crossDir);
}
else
{
toDir = fromDir;
}
}
var rotToSource = Quaternion.AngleAxis(
Mathf.Clamp(Vector3.Angle(fromDir, toDir), minMaxAngles.x, minMaxAngles.y),
crossDir
);
accumDeltaRot = QuaternionExt.Add(
accumDeltaRot,
QuaternionExt.Scale(sourceOffsets[i] * rotToSource, normalizedWeight)
);
// Required to update handles with binding info.
sourceTransforms[i] = sourceTransform;
accumWeights += normalizedWeight;
}
accumDeltaRot = QuaternionExt.NormalizeSafe(accumDeltaRot);
if (accumWeights < 1f)
{
accumDeltaRot = Quaternion.Lerp(Quaternion.identity, accumDeltaRot, accumWeights);
}
Quaternion newRot = accumDeltaRot * drivenLRot;
if (Vector3.Dot(axesMask, axesMask) < 3f)
{
newRot = Quaternion.Euler(AnimationRuntimeUtils.Select(drivenLRot.eulerAngles, newRot.eulerAngles, axesMask));
}
var offset = drivenOffset.Get(stream);
if (Vector3.Dot(offset, offset) > 0f)
{
newRot *= Quaternion.Euler(offset);
}
driven.SetLocalRotation(stream, Quaternion.Lerp(drivenLRot, newRot, w));
}
else
{
AnimationRuntimeUtils.PassThrough(stream, driven);
}
}