116 lines
4.1 KiB
C#
116 lines
4.1 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 responsible 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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[IconAttribute(IconUtility.IconPath + "Animation.IKFabrik.png")]
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public sealed class FabrikSolver2D : Solver2D
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{
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const float k_MinTolerance = 0.001f;
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const int k_MinIterations = 1;
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[SerializeField]
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IKChain2D m_Chain = new IKChain2D();
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[SerializeField]
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[Range(k_MinIterations, 50)]
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int m_Iterations = 10;
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[SerializeField]
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[Range(k_MinTolerance, 0.1f)]
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float m_Tolerance = 0.01f;
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float[] m_Lengths;
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Vector2[] m_Positions;
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Vector3[] m_WorldPositions;
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/// <summary>
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/// Get and set the solver's integration count.
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/// </summary>
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public int iterations
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{
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get => m_Iterations;
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set => m_Iterations = Mathf.Max(value, k_MinIterations);
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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 => m_Tolerance;
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set => m_Tolerance = Mathf.Max(value, k_MinTolerance);
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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 FABRIK 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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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 (var 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 (var 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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/// Updates the IK and sets the chain's transform positions.
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/// </summary>
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/// <param name="targetPositions">Target position for the chain.</param>
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protected override void DoUpdateIK(List<Vector3> targetPositions)
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{
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Profiler.BeginSample(nameof(FabrikSolver2D.DoUpdateIK));
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var targetPosition = targetPositions[0];
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targetPosition = GetPointOnSolverPlane(targetPosition);
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if (FABRIK2D.Solve(targetPosition, 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 (var 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 (var i = 0; i < m_Chain.transformCount - 1; ++i)
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{
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var startLocalPosition = (Vector2)m_Chain.transforms[i + 1].localPosition;
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var endLocalPosition = (Vector2)m_Chain.transforms[i].InverseTransformPoint(m_WorldPositions[i + 1]);
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m_Chain.transforms[i].localRotation *= Quaternion.AngleAxis(Vector2.SignedAngle(startLocalPosition, endLocalPosition), Vector3.forward);
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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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} |