private void Update(UnityEngine.Animations.AnimationStream s)
{
if (!_target.IsValid(s))
{
return;
}
float w = _IKPositionWeight.GetFloat(s);
if (w <= 0)
{
return;
}
w = Mathf.Min(w, 1f);
Read(s);
bool XY = _XY.GetBool(s);
float maxIterations = _maxIterations.GetInt(s);
float tolerance = _tolerance.GetFloat(s);
bool useRotationLimits = _useRotationLimits.GetBool(s);
Vector3 IKPosition = _target.GetPosition(s);
if (XY)
{
IKPosition.z = bones[0].GetPosition(s).z;
}
Vector3 singularityOffset = maxIterations > 1 ? GetSingularityOffset(s, IKPosition, useRotationLimits) : Vector3.zero;
// Iterating the solver
int it = 1;
for (int i = 0; i < maxIterations; i++)
{
// Optimizations
Vector3 localDirection = GetLocalDirection(s);
if (singularityOffset == Vector3.zero && i >= 1 && tolerance > 0 && GetPositionOffset(s, localDirection) < tolerance * tolerance)
{
break;
}
lastLocalDirection = localDirection;
Solve(s, IKPosition + (i == 0 ? singularityOffset : Vector3.zero), XY, w, it, useRotationLimits);
it++;
if (it >= bones.Length - 1)
{
it -= bones.Length - 2;
}
}
lastLocalDirection = GetLocalDirection(s);
}
private void Update(UnityEngine.Animations.AnimationStream s)
{
if (!_target.IsValid(s))
{
return;
}
if (!_poleTarget.IsValid(s))
{
return;
}
if (!_transform.IsValid(s))
{
return;
}
Vector3 axis = new Vector3(_axisX.GetFloat(s), _axisY.GetFloat(s), _axisZ.GetFloat(s));
Vector3 poleAxis = new Vector3(_poleAxisX.GetFloat(s), _poleAxisY.GetFloat(s), _poleAxisZ.GetFloat(s));
float poleWeight = _poleWeight.GetFloat(s);
poleWeight = Mathf.Clamp(poleWeight, 0f, 1f);
if (axis == Vector3.zero)
{
return;
}
if (poleAxis == Vector3.zero && poleWeight > 0f)
{
return;
}
float IKPositionWeight = _IKPositionWeight.GetFloat(s);
if (IKPositionWeight <= 0)
{
return;
}
IKPositionWeight = Mathf.Min(IKPositionWeight, 1f);
bool XY = _XY.GetBool(s);
float maxIterations = _maxIterations.GetInt(s);
float tolerance = _tolerance.GetFloat(s);
bool useRotationLimits = _useRotationLimits.GetBool(s);
Vector3 IKPosition = _target.GetPosition(s);
if (XY)
{
IKPosition.z = bones[0].GetPosition(s).z;
}
Vector3 polePosition = _poleTarget.GetPosition(s);
if (XY)
{
polePosition.z = IKPosition.z;
}
float clampWeight = _clampWeight.GetFloat(s);
clampWeight = Mathf.Clamp(clampWeight, 0f, 1f);
int clampSmoothing = _clampSmoothing.GetInt(s);
clampSmoothing = Mathf.Clamp(clampSmoothing, 0, 2);
Vector3 transformPosition = _transform.GetPosition(s);
Quaternion transformRotation = _transform.GetRotation(s);
Vector3 transformAxis = transformRotation * axis;
Vector3 clampedIKPosition = GetClampedIKPosition(s, clampWeight, clampSmoothing, IKPosition, transformPosition, transformAxis);
Vector3 dir = clampedIKPosition - transformPosition;
dir = Vector3.Slerp(transformAxis * dir.magnitude, dir, IKPositionWeight);
clampedIKPosition = transformPosition + dir;
// Iterating the solver
for (int i = 0; i < maxIterations; i++)
{
// Optimizations
if (i >= 0 && tolerance > 0 && GetAngle(s, axis, IKPosition) < tolerance)
{
break;
}
lastLocalDirection = GetLocalDirection(s, _transform.GetRotation(s) * axis);
for (int n = 0; n < bones.Length - 1; n++)
{
RotateToTarget(s, clampedIKPosition, polePosition, n, step * (n + 1) * IKPositionWeight * boneWeights[n].GetFloat(s), poleWeight, XY, useRotationLimits, axis, poleAxis);
}
RotateToTarget(s, clampedIKPosition, polePosition, bones.Length - 1, IKPositionWeight * boneWeights[bones.Length - 1].GetFloat(s), poleWeight, XY, useRotationLimits, axis, poleAxis);
}
lastLocalDirection = GetLocalDirection(s, _transform.GetRotation(s) * axis);
}
