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123 lines
3.0 KiB
C#
123 lines
3.0 KiB
C#
using UnityEngine;
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using System.Collections;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Branch of FABRIK components in the FABRIKRoot hierarchy.
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/// </summary>
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[System.Serializable]
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public class FABRIKChain {
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#region Main Interface
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/// <summary>
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/// The FABRIK component.
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/// </summary>
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public FABRIK ik;
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/// <summary>
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/// Parent pull weight.
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/// </summary>
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[Range(0f, 1f)]
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public float pull = 1f;
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/// <summary>
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/// Resistance to being pulled by child chains.
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/// </summary>
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[Range(0f, 1f)]
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public float pin = 1f;
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/// <summary>
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/// The child chain indexes.
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/// </summary>
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public int[] children = new int[0];
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/// <summary>
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/// Checks whether this FABRIKChain is valid.
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/// </summary>
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public bool IsValid(ref string message) {
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if (ik == null) {
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message = "IK unassigned in FABRIKChain.";
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return false;
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}
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if (!ik.solver.IsValid(ref message)) return false;
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return true;
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}
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#endregion Main Interface
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/*
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* Initiate the chain
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* */
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public void Initiate() {
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ik.enabled = false;
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}
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/*
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* Solving stage 1 of the FABRIK algorithm from end effectors towards the root.
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* */
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public void Stage1(FABRIKChain[] chain) {
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// Solving children first
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for (int i = 0; i < children.Length; i++) chain[children[i]].Stage1(chain);
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// The last chains
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if (children.Length == 0) {
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ik.solver.SolveForward(ik.solver.GetIKPosition());
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return;
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}
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ik.solver.SolveForward(GetCentroid(chain));
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}
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/*
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* Solving stage 2 of the FABRIK algoright from the root to the end effectors.
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* */
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public void Stage2(Vector3 rootPosition, FABRIKChain[] chain) {
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// Solve this chain backwards
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ik.solver.SolveBackward(rootPosition);
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// Solve child chains
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for (int i = 0; i < children.Length; i++) {
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chain[children[i]].Stage2(ik.solver.bones[ik.solver.bones.Length - 1].transform.position, chain);
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}
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}
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// Calculate the centroid of child positions
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private Vector3 GetCentroid(FABRIKChain[] chain) {
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Vector3 position = ik.solver.GetIKPosition();
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// The chain is pinned, ignore the children
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if (pin >= 1f) return position;
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// Get the sum of the pull values of all the children
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float pullSum = 0f;
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for (int i = 0; i < children.Length; i++) pullSum += chain[children[i]].pull;
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// All pull values are zero
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if (pullSum <= 0f) return position;
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if (pullSum < 1f) pullSum = 1f;
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// Calculating the centroid
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Vector3 centroid = position;
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for (int i = 0; i < children.Length; i++) {
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// Vector from IKPosition to the first bone of the child
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Vector3 toChild = chain[children[i]].ik.solver.bones[0].solverPosition - position;
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// Weight of the child
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float childWeight = chain[children[i]].pull / pullSum;
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// Adding to the centroid
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centroid += toChild * childWeight;
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}
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// No pinning
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if (pin <= 0f) return centroid;
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// Pinning
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return centroid + (position - centroid) * pin;
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}
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}
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}
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