// Initiates the LimbIK solver
public void Initiate(Transform hand, int index)
{
initiated = false;
if (!IsValid(true, hand))
{
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null)
{
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
/*
* Draws the scene view helpers for IKSolverLimb
* */
public static void AddScene(IKSolverLimb solver, Color color, bool modifiable)
{
if (!solver.IsValid(false))
{
return;
}
if (Application.isPlaying && !solver.initiated)
{
return;
}
if (solver.bendGoal != null && solver.bendModifierWeight > 0f)
{
Color c = color;
c.a = solver.bendModifierWeight;
Handles.color = c;
Handles.DrawLine(solver.bone2.transform.position, solver.bendGoal.position);
Handles.SphereCap(0, solver.bendGoal.position, Quaternion.identity, GetHandleSize(solver.bendGoal.position) * 0.5f);
Handles.color = Color.white;
}
IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable);
}
// Set the IK position and weight for a limb
private void SetLegIK(IKSolverLimb limb, int index)
{
footRotations[index] = feet[index].rotation;
limb.IKPosition = solver.legs[index].IKPosition;
limb.IKPositionWeight = weight;
}
public override void Execute()
{
var bipedIK = EntityView.GetComponent<BipedIK>();
LeftFoot = bipedIK.solvers.leftFoot;
RightFoot = bipedIK.solvers.rightFoot;
LeftArm = bipedIK.solvers.leftHand;
RightArm = bipedIK.solvers.rightHand;
}
/*
* Draws the scene view helpers for IKSolverLimb
* */
public static void AddScene(IKSolverLimb solver, Color color, bool modifiable)
{
if (Application.isPlaying && !solver.initiated)
{
return;
}
IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable);
}
private void OnDestroy()
{
if (this.initiated && this.ik != null)
{
IKSolverFABRIK expr_2C = this.ik.solvers.spine;
expr_2C.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(expr_2C.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnSolverUpdate));
IKSolverLimb expr_5D = this.ik.solvers.rightFoot;
expr_5D.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(expr_5D.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostSolverUpdate));
}
}
private void OnDestroy()
{
if (this.initiated && this.ik != null)
{
IKSolverFABRIK spine = this.ik.solvers.spine;
spine.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(spine.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnSolverUpdate));
IKSolverLimb rightFoot = this.ik.solvers.rightFoot;
rightFoot.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Remove(rightFoot.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostSolverUpdate));
}
}
public void Update(IKSolverLimb solver)
{
positionWeight.Value = Mathf.Clamp(positionWeight.Value, 0f, 1f);
rotationWeight.Value = Mathf.Clamp(rotationWeight.Value, 0f, 1f);
maintainRotationWeight.Value = Mathf.Clamp(maintainRotationWeight.Value, 0f, 1f);
bendModifierWeight.Value = Mathf.Clamp(bendModifierWeight.Value, 0f, 1f);
solver.target = target.Value == null? null: target.Value.transform;
solver.IKPositionWeight = positionWeight.Value;
solver.IKPosition = position.Value;
solver.IKRotationWeight = rotationWeight.Value;
solver.IKRotation = rotation.Value;
solver.maintainRotationWeight = maintainRotationWeight.Value;
solver.bendNormal = bendNormal.Value.normalized;
solver.bendModifierWeight = bendModifierWeight.Value;
}
// Initiates the LimbIK solver
public void Initiate(Transform hand, int index)
{
initiated = false;
string errorMessage = string.Empty;
if (!IsValid(ref errorMessage))
{
Warning.Log(errorMessage, hand, false);
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
defaultBendNormal = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position).normalized;
solver.bendNormal = defaultBendNormal;
Vector3 axisWorld = Vector3.Cross(bone2.position - bone1.position, tip.position - bone1.position);
bone1Axis = Quaternion.Inverse(bone1.rotation) * axisWorld;
tipAxis = Quaternion.Inverse(tip.rotation) * axisWorld;
Vector3 normal = bone2.position - bone1.position;
Vector3 tangent = -Vector3.Cross(tip.position - bone1.position, bone2.position - bone1.position);
Vector3.OrthoNormalize(ref normal, ref tangent);
bone1TwistAxis = Quaternion.Inverse(bone1.rotation) * tangent;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null)
{
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
/*
* Draws the scene view helpers for IKSolverLimb
* */
public static void AddScene(IKSolverLimb solver, Color color, bool modifiable) {
if (Application.isPlaying && !solver.initiated) return;
if (!Application.isPlaying && !solver.IsValid()) return;
if (solver.bendGoal != null && solver.bendModifierWeight > 0f) {
Color c = color;
c.a = solver.bendModifierWeight;
Handles.color = c;
Handles.DrawLine(solver.bone2.transform.position, solver.bendGoal.position);
Handles.SphereCap(0, solver.bendGoal.position, Quaternion.identity, GetHandleSize(solver.bendGoal.position) * 0.5f);
Handles.color = Color.white;
}
IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable);
}
private void Initiate()
{
this.feet = new Transform[2];
this.footRotations = new Quaternion[2];
this.feet[0] = this.ik.references.leftFoot;
this.feet[1] = this.ik.references.rightFoot;
this.footRotations[0] = Quaternion.identity;
this.footRotations[1] = Quaternion.identity;
IKSolverFABRIK spine = this.ik.solvers.spine;
spine.OnPreUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(spine.OnPreUpdate, new IKSolver.UpdateDelegate(this.OnSolverUpdate));
IKSolverLimb rightFoot = this.ik.solvers.rightFoot;
rightFoot.OnPostUpdate = (IKSolver.UpdateDelegate)Delegate.Combine(rightFoot.OnPostUpdate, new IKSolver.UpdateDelegate(this.OnPostSolverUpdate));
this.animatedPelvisLocalPosition = this.ik.references.pelvis.localPosition;
this.solver.Initiate(this.ik.references.root, this.feet);
this.initiated = true;
}
protected override void InitiateSolver()
{
if (!BipedReferences.CheckSetupError(this.references, Application.isPlaying))
{
return;
}
this.solvers.AssignReferences(this.references);
if (this.solvers.spine.bones.Length > 1)
{
this.solvers.spine.Initiate(base.transform);
}
this.solvers.lookAt.Initiate(base.transform);
this.solvers.aim.Initiate(base.transform);
IKSolverLimb[] limbs = this.solvers.limbs;
for (int i = 0; i < limbs.Length; i++)
{
IKSolverLimb iKSolverLimb = limbs[i];
iKSolverLimb.Initiate(base.transform);
}
this.solvers.pelvis.Initiate(this.references.pelvis);
}
public void SetToDefaults()
{
IKSolverLimb[] limbs = this.solvers.limbs;
for (int i = 0; i < limbs.Length; i++)
{
IKSolverLimb iKSolverLimb = limbs[i];
iKSolverLimb.SetIKPositionWeight(0f);
iKSolverLimb.SetIKRotationWeight(0f);
iKSolverLimb.bendModifier = IKSolverLimb.BendModifier.Animation;
iKSolverLimb.bendModifierWeight = 1f;
}
this.solvers.leftHand.maintainRotationWeight = 0f;
this.solvers.rightHand.maintainRotationWeight = 0f;
this.solvers.spine.SetIKPositionWeight(0f);
this.solvers.spine.tolerance = 0f;
this.solvers.spine.maxIterations = 2;
this.solvers.spine.useRotationLimits = false;
this.solvers.aim.SetIKPositionWeight(0f);
this.solvers.aim.tolerance = 0f;
this.solvers.aim.maxIterations = 2;
this.SetLookAtWeight(0f, 0.5f, 1f, 1f, 0.5f, 0.7f, 0.5f);
}
/*
* Draws the scene view helpers for IKSolverLimb
* */
public static void AddScene(IKSolverLimb solver, Color color, bool modifiable)
{
IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable);
}
// Set the IK position and weight for a limb
private void SetLegIK(IKSolverLimb limb, int index) {
footRotations[index] = feet[index].rotation;
limb.IKPosition = solver.legs[index].IKPosition;
limb.IKPositionWeight = weight;
}
// Initiates the LimbIK solver
public void Initiate(Transform hand, int index) {
initiated = false;
string errorMessage = string.Empty;
if (!IsValid(ref errorMessage)) {
Warning.Log(errorMessage, hand, false);
return;
}
solver = new IKSolverLimb();
solver.IKPositionWeight = weight;
solver.bendModifier = IKSolverLimb.BendModifier.Target;
solver.bendModifierWeight = 1f;
IKPosition = tip.position;
IKRotation = tip.rotation;
if (bone3 != null) {
bone3RelativeToTarget = Quaternion.Inverse(IKRotation) * bone3.rotation;
bone3DefaultLocalPosition = bone3.localPosition;
bone3DefaultLocalRotation = bone3.localRotation;
}
solver.SetChain(bone1, bone2, tip, hand);
solver.Initiate(hand);
initiated = true;
}
} // 0x0000000180532920-0x0000000180533060
private void SetLegIK(IKSolverLimb limb, int index)
{
} // 0x0000000180533160-0x0000000180533270
/*
* Draws the scene view helpers for IKSolverLimb
* */
public static void AddScene(IKSolverLimb solver, Color color, bool modifiable)
{
IKSolverTrigonometricInspector.AddScene(solver as IKSolverTrigonometric, color, modifiable);
}
public override void Execute()
{
var ik = EntityView.GetComponent<LimbIK>();
Solver = ik.solver;
}
