public WRay Solve(int i)
{
var result = IKTool.IKSolve(joints[i], target, end, maxDeltaAngle);
if (IKTool.Close(target.position, end.position))
{
Debug.Log("完成");
}
return(result);
}
void ScaleChain()
{
for (int i = 0; i < joints.Count; i++)
{
var bone = joints[i].FindChild("Bone");
bone.localPosition = new Vector3(0, 0, setting.boneLength * 0.5f + 0.5f);
bone.localScale = new Vector3(1, 1, setting.boneLength);
bone.GetComponent <MeshRenderer>().enabled = !IKTool.CloseZero(bone.localScale.z);
joints[i].localPosition = new Vector3(0, 0, i == 0 ? 0 : 1 + setting.boneLength);
joints[i].localRotation = Quaternion.identity;
}
end.localPosition = new Vector3(0, 0, setting.boneLength + 0.5f + end.localScale.z * 0.5f);
end.SetParent(joints[joints.Count - 1]);
}
public void Solve()
{
int i;
for (i = 0; i < iteration; i++)
{
foreach (var joint in joints)
{
IKTool.IKSolve(joint, target, end, maxDeltaAngle);
}
//if (IKTool.Close(target.position, end.position)) { Debug.Log(i.ToString() + " 次迭代 完成"); return; }
if (IKTool.Close(target.position, end.position))
{
return;
}
}
//Debug.Log(i.ToString() + " 次迭代 未完成");
}
