void InitializeSolver()
{
Bone2D rootBone = Bone2D.GetChainBoneByIndex(target, numBones - 1);
SetAttachedIK(null);
solver.Initialize(rootBone, numBones);
}
public static void InitializeIk2D(SerializedObject ikSO)
{
SerializedProperty targetProp = ikSO.FindProperty("m_Target");
SerializedProperty numBonesProp = ikSO.FindProperty("m_NumBones");
SerializedProperty solverProp = ikSO.FindProperty("m_Solver");
SerializedProperty solverPosesProp = solverProp.FindPropertyRelative("m_SolverPoses");
SerializedProperty rootBoneProp = solverProp.FindPropertyRelative("m_RootBone");
Bone2D targetBone = targetProp.objectReferenceValue as Bone2D;
Bone2D rootBone = null;
if (targetBone)
{
rootBone = Bone2D.GetChainBoneByIndex(targetBone, numBonesProp.intValue - 1);
}
for (int i = 0; i < solverPosesProp.arraySize; ++i)
{
SerializedProperty poseProp = solverPosesProp.GetArrayElementAtIndex(i);
SerializedProperty poseBoneProp = poseProp.FindPropertyRelative("bone");
Bone2D poseBone = poseBoneProp.objectReferenceValue as Bone2D;
if (poseBone)
{
poseBone.attachedIK = null;
}
}
rootBoneProp.objectReferenceValue = rootBone;
solverPosesProp.arraySize = 0;
if (rootBone)
{
solverPosesProp.arraySize = numBonesProp.intValue;
Bone2D bone = rootBone;
for (int i = 0; i < numBonesProp.intValue; ++i)
{
SerializedProperty poseProp = solverPosesProp.GetArrayElementAtIndex(i);
SerializedProperty poseBoneProp = poseProp.FindPropertyRelative("bone");
SerializedProperty localRotationProp = poseProp.FindPropertyRelative("defaultLocalRotation");
SerializedProperty solverPositionProp = poseProp.FindPropertyRelative("solverPosition");
SerializedProperty solverRotationProp = poseProp.FindPropertyRelative("solverRotation");
if (bone)
{
poseBoneProp.objectReferenceValue = bone;
localRotationProp.quaternionValue = bone.transform.localRotation;
solverPositionProp.vector3Value = Vector3.zero;
solverRotationProp.quaternionValue = Quaternion.identity;
bone = bone.child;
}
}
}
}
