93 lines
3.6 KiB
C#
93 lines
3.6 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 responsible 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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[IconAttribute(IconUtility.IconPath + "Animation.IKLimb.png")]
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public sealed 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 and set the 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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/// Initializes the solver.
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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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/// Returns the number of chains in the solver.
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/// </summary>
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/// <returns>Returns 1, because Limb Solver has only one chain.</returns>
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protected override int GetChainCount() => 1;
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/// <summary>
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/// Gets the chain in the solver at index.
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/// </summary>
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/// <param name="index">Index to query. Not used in this override.</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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/// Prepares the data required for updating the solver.
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/// </summary>
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protected override void DoPrepare()
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{
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float[] 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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/// Updates the IK and sets the chain's transform positions.
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/// </summary>
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/// <param name="targetPositions">List of target positions.</param>
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protected override void DoUpdateIK(List<Vector3> targetPositions)
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{
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Vector3 targetPosition = targetPositions[0];
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Transform upperLimb = m_Chain.transforms[0];
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Transform lowerLimb = m_Chain.transforms[1];
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Transform effector = m_Chain.effector;
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Vector2 targetLocalPosition2D = (Vector2)upperLimb.InverseTransformPoint(targetPosition);
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targetPosition = upperLimb.TransformPoint(targetLocalPosition2D);
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if (targetLocalPosition2D.sqrMagnitude > 0f && Limb.Solve(targetPosition, m_Lengths, m_Positions, ref m_Angles))
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{
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float upperLimbRotationAngle = Vector2.SignedAngle(Vector2.right, targetLocalPosition2D) + Vector2.SignedAngle(lowerLimb.localPosition, Vector2.right) + (flip ? -1f : 1f) * m_Angles[0];
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upperLimb.localRotation *= Quaternion.AngleAxis(upperLimbRotationAngle, Vector3.forward);
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float lowerLimbRotation = Vector2.SignedAngle(Vector2.right, lowerLimb.InverseTransformPoint(targetPosition)) + Vector2.SignedAngle(effector.localPosition, Vector2.right);
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m_Chain.transforms[1].localRotation *= Quaternion.AngleAxis(lowerLimbRotation, Vector3.forward);
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}
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}
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}
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}
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