private void LateUpdate()
{
if (applyTransforms)
{
if (target == null)
{
return;
}
// Get the chain and assert that it is not broken
Chain c = ChainManager.BuildChain(root);
Debug.Assert(!c.IsBroken());
List <Joint> joints = new List <Joint>();
for (int i = 0; i < c.BoneCount; i++)
{
joints.Add(c.GetBone(i).Base);
}
joints.Add(c.EndEffector);
Chain_FABRIK.Solve(c, target);
ChainManager.ApplyJointTransforms(root, joints);
visualizer.Show();
visualizer.SetChain(c);
}
}
void LateUpdate()
{
if (runIK)
{
runIK = false;
if (Target == null)
{
return;
}
// Get the chain and assert that it is not broken
Chain chain = ChainManager.BuildChain(ChainRoot);
Debug.Assert(!chain.IsBroken());
var chainCopy = chain.Copy();
chainCopy.Destroy();
chain.Restore();
Chain_FABRIK.Solve(chain, Target);
ChainManager.ApplyJointTransforms(ChainRoot, chain.GetJoints());
chain = ChainManager.BuildChain(ChainRoot);
ConstraintsUtil.Constrain(chain, Target);
ChainManager.ApplyJointTransforms(ChainRoot, chain.GetJoints());
}
if (Input.GetKeyDown(KeyCode.I))
{
runIK = false;
Chain chain = ChainManager.BuildChain(ChainRoot);
chain.Restore();
Chain_FABRIK.Solve(chain, Target);
ChainManager.ApplyJointTransforms(ChainRoot, chain.GetJoints());
}
if (Input.GetKeyDown(KeyCode.R))
{
runIK = false;
Chain chain = ChainManager.BuildChain(ChainRoot);
chain.Restore();
ChainManager.ApplyJointTransforms(ChainRoot, chain.GetJoints());
}
if (Input.GetKeyDown(KeyCode.C))
{
Chain chain = ChainManager.BuildChain(ChainRoot);
ConstraintsUtil.Constrain(chain, Target);
ChainManager.ApplyJointTransforms(ChainRoot, chain.GetJoints());
}
if (Input.GetKeyDown(KeyCode.D))
{
Chain chain = ChainManager.BuildChain(ChainRoot);
DisplayChainInfo(chain);
}
}