private Vector3 GetBendNormalStrategy(BendNormalStrategy bendNormalStrategy, Vector3 actualTargetPos)
{
Vector3 bendNormal = Vector3.zero;
switch (bendNormalStrategy)
{
case BendNormalStrategy.followTarget:
bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward);
break;
case BendNormalStrategy.rightArm:
bendNormal = Vector3.down;
break;
case BendNormalStrategy.leftArm:
bendNormal = Vector3.up;
break;
case BendNormalStrategy.spine:
bendNormal = bone1.GetBendNormalFromCurrentRotation();
break;
default:
break;
}
return(bendNormal);
}
public void UpdateIK()
{
//clamp target if distance to target is longer than bones combined
Vector3 actualTargetPos;
float overallLength = Vector3.Distance(bone1.trans.position, target.position);
if (overallLength > bone1.length + bone2.length)
{
actualTargetPos = bone1.trans.position + (target.position - bone1.trans.position).normalized * (bone1.length + bone2.length);
overallLength = bone1.length + bone2.length;
}
else
{
actualTargetPos = target.position;
}
//calculate bend normal
//you may need to change this based on the model you chose
Vector3 bendNormal = GetBendNormalStrategy(bendNormalStrategy, actualTargetPos);
//calculate bone1, bone2 rotation
Vector3 bendDirection = GetBendDirection(actualTargetPos, bendNormal);
if (IKBone4 != null)
{
bone4.trans.rotation = bone4.GetRotation(bendDirection, bendNormal);
}
if (trackSecondBone && secondTarget != null && bendNormalStrategy != BendNormalStrategy.spine)
{
Vector3 secondActualTargetPos;
float secondOverallLength = Vector3.Distance(bone1.trans.position, secondTarget.position);
if (secondOverallLength > bone1.length)
{
secondActualTargetPos = bone1.trans.position + (secondTarget.position - bone1.trans.position).normalized * bone1.length;
secondOverallLength = bone1.length;
}
else
{
secondActualTargetPos = secondTarget.position;
}
Vector3 secondbendNormal = GetBendNormalStrategy(bendNormalStrategy, secondActualTargetPos);
//calculate bone2 rotation
Vector3 secondbendDirection = GetSecondBoneBendDirection(secondActualTargetPos, secondbendNormal);
// Rotating Shoulder/Thigh
bone1.trans.rotation = bone1.GetRotation(secondbendDirection, secondbendNormal);
//Set Elbow/Knee position
bone2.trans.position = secondActualTargetPos;
// bone2.trans.rotation = secondTarget.rotation;
//Set Hand/Foot position
bone3.trans.position = actualTargetPos;
bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, bone2.GetBendNormalFromCurrentRotation(bendNormal));
}
else
{
// Rotating bone1
if (bendNormalStrategy == BendNormalStrategy.leftArm || bendNormalStrategy == BendNormalStrategy.rightArm)
{
bone1.trans.rotation = bone1.GetRotation(bendDirection, bendNormal) * Quaternion.Euler(-45, 0, 0);
}
else
{
bone1.trans.rotation = bone1.GetRotation(bendDirection, bendNormal);
}
// Rotating bone 2
bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, bone2.GetBendNormalFromCurrentRotation(defaultBendNormal));
}
bone3.trans.rotation = target.rotation;
bone3.trans.position = actualTargetPos;
}
public void UpdateIK()
{
//clamp target if distance to target is longer than bones combined
Vector3 actualTargetPos;
float overallLength = Vector3.Distance(bone1.trans.position, target.position);
if (overallLength > bone1.length + bone2.length)
{
actualTargetPos = bone1.trans.position + (target.position - bone1.trans.position).normalized * (bone1.length + bone2.length);
overallLength = bone1.length + bone2.length;
}
else
{
actualTargetPos = target.position;
}
//calculate bend normal
//you may need to change this based on the model you chose
Vector3 bendNormal = Vector3.zero;
switch (bendNormalStrategy)
{
case BendNormalStrategy.followTarget:
bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward);
break;
case BendNormalStrategy.rightArm:
bendNormal = Vector3.down;
break;
case BendNormalStrategy.leftArm:
bendNormal = Vector3.up;
break;
case BendNormalStrategy.head:
bendNormal = bone1.GetBendNormalFromCurrentRotation();
break;
//case BendNormalStrategy.rightFoot:
// bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward);
// break;
//case BendNormalStrategy.leftFoot:
// bendNormal = -Vector3.Cross(actualTargetPos - bone1.trans.position, target.forward);
// break;
default:
Debug.LogError("Undefined bendnormal strategy: " + bendNormalStrategy);
break;
}
//calculate bone1, bone2 rotation
Vector3 bendDirection = GetBendDirection(actualTargetPos, bendNormal);
// Rotating bone1
bone1.trans.rotation = bone1.GetRotation(bendDirection, bendNormal);
// Rotating bone 2
bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, bone2.GetBendNormalFromCurrentRotation(defaultBendNormal));
//bone2.trans.rotation = bone2.GetRotation(actualTargetPos - bone2.trans.position, Quaternion.AngleAxis(debugAngle, target.forward)* target.up);
bone3.trans.rotation = target.rotation;
}