internal void update(bool parentUpdated)
{
if (HasControlsToSolve) //Control solve
{
if (BeforeUpdate != null)
{
BeforeUpdate.Invoke(this);
}
//Seed needupdate, will be true if there are external controls or the parent was updated
bool needUpdate = externalControls.Count > 0 || parentUpdated;
foreach (var control in controls)
{
//See if any controls moved
needUpdate |= control.MovedThisTick;
control.MovedThisTick = false;
control.syncPosition();
}
//Something requires us to update
if (needUpdate)
{
ikSolver.Solve(solveControls);
parentUpdated = true;
updatedThisTick = true;
}
}
else if (AutosolveOnParentUpdate && parentUpdated) //Solve bones if parent updated and no controls
{
if (BeforeUpdate != null)
{
BeforeUpdate.Invoke(this);
}
ikSolver.Solve(solveBones);
updatedThisTick = true;
}
foreach (var child in childSolvers)
{
child.update(parentUpdated);
}
}
protected override void Step()
{
solver.Solve(controls);
foreach (var bone in bones)
{
bone.Entity.Position = bone.Bone.Position;
bone.Entity.Orientation = Quaternion.Concatenate(bone.LocalRotationBoneToEntity, bone.Bone.Orientation);
bone.Entity.AngularVelocity = new Vector3();
bone.Entity.LinearVelocity = new Vector3();
}
}
/// <summary>
/// Constructs a new demo.
/// </summary>
/// <param name="game">Game owning this demo.</param>
public InverseKinematicsTestDemo2(DemosGame game)
: base(game)
{
game.Camera.Position = new Vector3(0, 3, 5);
Box ground = new Box(new Vector3(0, -3, 0), 30, 1, 30);
Space.Add(ground);
Space.ForceUpdater.Gravity = new Vector3(0, -9.81m, 0);
var solver = new IKSolver();
solver.ActiveSet.UseAutomass = true;
//solver.AutoscaleControlImpulses = true;
//solver.AutoscaleControlMaximumForce = Fix64.MaxValue;
solver.ControlIterationCount = 20;
solver.FixerIterationCount = 0;
solver.VelocitySubiterationCount = 3;
List <Bone> bones;
List <Entity> boneEntities;
int boneCount = 10;
BuildStick(new Vector3(0, 0.5m, 0), boneCount, out bones, out boneEntities);
DragControl dragger = new DragControl {
TargetBone = bones[boneCount - 1], MaximumForce = Fix64.MaxValue
};
dragger.LinearMotor.Rigidity = 16;
dragger.LinearMotor.LocalOffset = new Vector3(0, 0.5m, 0);
dragger.LinearMotor.TargetPosition = new Vector3(10, 0, 0);
bones[0].Pinned = true;
var controls = new List <Control>();
controls.Add(dragger);
solver.Solve(controls);
var tipLocation = bones[boneCount - 1].Position + Matrix3x3.CreateFromQuaternion(bones[boneCount - 1].Orientation).Up * 0.5m;
for (int i = 0; i < bones.Count; ++i)
{
boneEntities[i].Position = bones[i].Position;
boneEntities[i].Orientation = bones[i].Orientation;
Space.Add(boneEntities[i]);
}
}
void LateUpdate()
{
IKSolver.Solve(false, 1f, 1f, 0f, -1, -1, upperLimb, lowerLimb, endLimb, elbowForward, target.position, Vector3.zero, target.rotation);
}
