86 lines
3.2 KiB
C#
86 lines
3.2 KiB
C#
using System.Collections.Generic;
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using UnityEngine.Scripting.APIUpdating;
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namespace UnityEngine.U2D.IK
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{
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/// <summary>
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/// Component for 2D Limb IK.
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/// </summary>
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[MovedFrom("UnityEngine.Experimental.U2D.IK")]
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[Solver2DMenuAttribute("Limb")]
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public class LimbSolver2D : Solver2D
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{
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[SerializeField]
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IKChain2D m_Chain = new IKChain2D();
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[SerializeField]
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bool m_Flip;
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Vector3[] m_Positions = new Vector3[3];
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float[] m_Lengths = new float[2];
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float[] m_Angles = new float[2];
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/// <summary>
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/// Get Set for flip property.
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/// </summary>
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public bool flip
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{
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get => m_Flip;
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set => m_Flip = value;
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}
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/// <summary>
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/// Override base class DoInitialize.
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/// </summary>
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protected override void DoInitialize()
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{
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m_Chain.transformCount = m_Chain.effector == null || IKUtility.GetAncestorCount(m_Chain.effector) < 2 ? 0 : 3;
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base.DoInitialize();
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}
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/// <summary>
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/// Override base class GetChainCount.
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/// </summary>
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/// <returns>Always returns 1.</returns>
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protected override int GetChainCount() => 1;
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/// <summary>
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/// Override base class GetChain.
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/// </summary>
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/// <param name="index">Index to query.</param>
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/// <returns>Returns IKChain2D for the Solver.</returns>
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public override IKChain2D GetChain(int index) => m_Chain;
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/// <summary>
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/// Override base class DoPrepare.
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/// </summary>
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protected override void DoPrepare()
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{
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var lengths = m_Chain.lengths;
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m_Positions[0] = m_Chain.transforms[0].position;
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m_Positions[1] = m_Chain.transforms[1].position;
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m_Positions[2] = m_Chain.transforms[2].position;
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m_Lengths[0] = lengths[0];
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m_Lengths[1] = lengths[1];
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}
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/// <summary>
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/// Override base class DoUpdateIK.
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/// </summary>
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/// <param name="effectorPositions">List of effector positions.</param>
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protected override void DoUpdateIK(List<Vector3> effectorPositions)
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{
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var effectorPosition = effectorPositions[0];
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var effectorLocalPosition2D = m_Chain.transforms[0].InverseTransformPoint(effectorPosition);
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effectorPosition = m_Chain.transforms[0].TransformPoint(effectorLocalPosition2D);
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if (effectorLocalPosition2D.sqrMagnitude > 0f && Limb.Solve(effectorPosition, m_Lengths, m_Positions, ref m_Angles))
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{
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var flipSign = flip ? -1f : 1f;
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m_Chain.transforms[0].localRotation *= Quaternion.FromToRotation(Vector3.right, effectorLocalPosition2D) * Quaternion.FromToRotation(m_Chain.transforms[1].localPosition, Vector3.right);
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m_Chain.transforms[0].localRotation *= Quaternion.AngleAxis(flipSign * m_Angles[0], Vector3.forward);
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m_Chain.transforms[1].localRotation *= Quaternion.FromToRotation(Vector3.right, m_Chain.transforms[1].InverseTransformPoint(effectorPosition)) * Quaternion.FromToRotation(m_Chain.transforms[2].localPosition, Vector3.right);
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}
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}
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}
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} |