117 lines
4.0 KiB
C#
117 lines
4.0 KiB
C#
using System.Collections.Generic;
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using UnityEngine.Profiling;
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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 Forward And Backward Reaching Inverse Kinematics (FABRIK) IK.
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/// </summary>
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[MovedFrom("UnityEngine.Experimental.U2D.IK")]
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[Solver2DMenu("Chain (FABRIK)")]
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public class FabrikSolver2D : Solver2D
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{
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private const float kMinTolerance = 0.001f;
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private const int kMinIterations = 1;
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[SerializeField]
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private IKChain2D m_Chain = new IKChain2D();
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[SerializeField][Range(kMinIterations, 50)]
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private int m_Iterations = 10;
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[SerializeField][Range(kMinTolerance, 0.1f)]
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private float m_Tolerance = 0.01f;
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private float[] m_Lengths;
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private Vector2[] m_Positions;
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private Vector3[] m_WorldPositions;
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/// <summary>
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/// Get and Set the solver's itegration count.
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/// </summary>
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public int iterations
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{
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get { return m_Iterations; }
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set { m_Iterations = Mathf.Max(value, kMinIterations); }
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}
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/// <summary>
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/// Get and Set target distance tolerance.
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/// </summary>
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public float tolerance
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{
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get { return m_Tolerance; }
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set { m_Tolerance = Mathf.Max(value, kMinTolerance); }
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}
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/// <summary>
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/// Returns the number of chain in the solver.
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/// </summary>
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/// <returns>This always returns 1.</returns>
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protected override int GetChainCount()
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{
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return 1;
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}
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/// <summary>
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/// Gets the chain in the solver by index.
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/// </summary>
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/// <param name="index">Chain index.</param>
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/// <returns>Returns IKChain2D at the index.</returns>
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public override IKChain2D GetChain(int index)
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{
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return m_Chain;
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}
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/// <summary>
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/// DoPrepare override from base class.
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/// </summary>
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protected override void DoPrepare()
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{
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if (m_Positions == null || m_Positions.Length != m_Chain.transformCount)
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{
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m_Positions = new Vector2[m_Chain.transformCount];
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m_Lengths = new float[m_Chain.transformCount - 1];
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m_WorldPositions = new Vector3[m_Chain.transformCount];
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}
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for (int i = 0; i < m_Chain.transformCount; ++i)
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{
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m_Positions[i] = GetPointOnSolverPlane(m_Chain.transforms[i].position);
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}
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for (int i = 0; i < m_Chain.transformCount - 1; ++i)
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{
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m_Lengths[i] = (m_Positions[i + 1] - m_Positions[i]).magnitude;
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}
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}
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/// <summary>
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/// DoUpdateIK override from base class.
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/// </summary>
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/// <param name="effectorPositions">Target position for the chain.</param>
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protected override void DoUpdateIK(List<Vector3> effectorPositions)
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{
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Profiler.BeginSample("FABRIKSolver2D.DoUpdateIK");
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Vector3 effectorPosition = effectorPositions[0];
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effectorPosition = GetPointOnSolverPlane(effectorPosition);
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if (FABRIK2D.Solve(effectorPosition, iterations, tolerance, m_Lengths, ref m_Positions))
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{
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// Convert all plane positions to world positions
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for (int i = 0; i < m_Positions.Length; ++i)
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{
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m_WorldPositions[i] = GetWorldPositionFromSolverPlanePoint(m_Positions[i]);
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}
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for (int i = 0; i < m_Chain.transformCount - 1; ++i)
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{
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Vector3 startLocalPosition = m_Chain.transforms[i + 1].localPosition;
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Vector3 endLocalPosition = m_Chain.transforms[i].InverseTransformPoint(m_WorldPositions[i + 1]);
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m_Chain.transforms[i].localRotation *= Quaternion.FromToRotation(startLocalPosition, endLocalPosition);
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}
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}
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Profiler.EndSample();
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}
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}
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}
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