61 lines
2.5 KiB
C#
61 lines
2.5 KiB
C#
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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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/// Utility for 2D based Cyclic Coordinate Descent (CCD) IK Solver.
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/// </summary>
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[MovedFrom("UnityEngine.Experimental.U2D.IK")]
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public static class CCD2D
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{
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/// <summary>
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/// Solve IK Chain based on CCD.
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/// </summary>
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/// <param name="targetPosition">Target position.</param>
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/// <param name="forward">Forward vector for solver.</param>
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/// <param name="solverLimit">Solver iteration count.</param>
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/// <param name="tolerance">Target position's tolerance.</param>
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/// <param name="velocity">Velocity towards target position.</param>
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/// <param name="positions">Chain positions.</param>
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/// <returns>Returns true if solver successfully completes within iteration limit. False otherwise.</returns>
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public static bool Solve(Vector3 targetPosition, Vector3 forward, int solverLimit, float tolerance, float velocity, ref Vector3[] positions)
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{
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int last = positions.Length - 1;
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int iterations = 0;
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float sqrTolerance = tolerance * tolerance;
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float sqrDistanceToTarget = (targetPosition - positions[last]).sqrMagnitude;
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while (sqrDistanceToTarget > sqrTolerance)
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{
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DoIteration(targetPosition, forward, last, velocity, ref positions);
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sqrDistanceToTarget = (targetPosition - positions[last]).sqrMagnitude;
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if (++iterations >= solverLimit)
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break;
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}
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return iterations != 0;
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}
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static void DoIteration(Vector3 targetPosition, Vector3 forward, int last, float velocity, ref Vector3[] positions)
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{
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for (int i = last - 1; i >= 0; --i)
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{
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Vector3 toTarget = targetPosition - positions[i];
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Vector3 toLast = positions[last] - positions[i];
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float angle = Vector3.SignedAngle(toLast, toTarget, forward);
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angle = Mathf.Lerp(0f, angle, velocity);
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Quaternion deltaRotation = Quaternion.AngleAxis(angle, forward);
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for (int j = last; j > i; --j)
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positions[j] = RotatePositionFrom(positions[j], positions[i], deltaRotation);
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}
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}
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static Vector3 RotatePositionFrom(Vector3 position, Vector3 pivot, Quaternion rotation)
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{
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Vector3 v = position - pivot;
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v = rotation * v;
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return pivot + v;
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}
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}
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}
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