96 lines
3.8 KiB
C#
96 lines
3.8 KiB
C#
// Copyright Unity Technologies 2019 // https://github.com/Unity-Technologies/animation-jobs-samples //
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// This file has not been modified other to put it in the Animancer.Samples.Jobs namespace and add this message and the comment on the struct.
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using UnityEngine;
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using UnityEngine.Animations;
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namespace Animancer.Samples.Jobs
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{
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/// <summary>An <see cref="IAnimationJob"/> which executes two bone Inverse Kinematics.</summary>
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///
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/// <remarks>
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/// <strong>Sample:</strong>
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/// <see href="https://kybernetik.com.au/animancer/docs/samples/jobs/two-bone-ik">
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/// Two Bone IK</see>
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/// </remarks>
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///
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/// https://kybernetik.com.au/animancer/api/Animancer.Samples.Jobs/TwoBoneIKJob
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///
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public struct TwoBoneIKJob : IAnimationJob
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{
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public TransformSceneHandle effector;
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public TransformStreamHandle top;
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public TransformStreamHandle mid;
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public TransformStreamHandle low;
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public void Setup(Animator animator, Transform topX, Transform midX, Transform lowX, Transform effectorX)
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{
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top = animator.BindStreamTransform(topX);
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mid = animator.BindStreamTransform(midX);
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low = animator.BindStreamTransform(lowX);
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effector = animator.BindSceneTransform(effectorX);
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}
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public readonly void ProcessRootMotion(AnimationStream stream)
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{
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}
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public readonly void ProcessAnimation(AnimationStream stream)
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{
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Solve(stream, top, mid, low, effector);
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}
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/// <summary>
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/// Returns the angle needed between v1 and v2 so that their extremities are
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/// spaced with a specific length.
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/// </summary>
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/// <returns>The angle between v1 and v2.</returns>
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/// <param name="aLen">The desired length between the extremities of v1 and v2.</param>
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/// <param name="v1">First triangle edge.</param>
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/// <param name="v2">Second triangle edge.</param>
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private static float TriangleAngle(float aLen, Vector3 v1, Vector3 v2)
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{
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float aLen1 = v1.magnitude;
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float aLen2 = v2.magnitude;
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float c = Mathf.Clamp((aLen1 * aLen1 + aLen2 * aLen2 - aLen * aLen) / (aLen1 * aLen2) / 2.0f, -1.0f, 1.0f);
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return Mathf.Acos(c);
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}
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private static void Solve(AnimationStream stream, TransformStreamHandle topHandle, TransformStreamHandle midHandle, TransformStreamHandle lowHandle, TransformSceneHandle effectorHandle)
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{
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Quaternion aRotation = topHandle.GetRotation(stream);
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Quaternion bRotation = midHandle.GetRotation(stream);
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Quaternion eRotation = effectorHandle.GetRotation(stream);
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Vector3 aPosition = topHandle.GetPosition(stream);
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Vector3 bPosition = midHandle.GetPosition(stream);
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Vector3 cPosition = lowHandle.GetPosition(stream);
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Vector3 ePosition = effectorHandle.GetPosition(stream);
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Vector3 ab = bPosition - aPosition;
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Vector3 bc = cPosition - bPosition;
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Vector3 ac = cPosition - aPosition;
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Vector3 ae = ePosition - aPosition;
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float abcAngle = TriangleAngle(ac.magnitude, ab, bc);
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float abeAngle = TriangleAngle(ae.magnitude, ab, bc);
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float angle = (abcAngle - abeAngle) * Mathf.Rad2Deg;
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Vector3 axis = Vector3.Cross(ab, bc).normalized;
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Quaternion fromToRotation = Quaternion.AngleAxis(angle, axis);
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Quaternion worldQ = fromToRotation * bRotation;
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midHandle.SetRotation(stream, worldQ);
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cPosition = lowHandle.GetPosition(stream);
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ac = cPosition - aPosition;
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Quaternion fromTo = Quaternion.FromToRotation(ac, ae);
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topHandle.SetRotation(stream, fromTo * aRotation);
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lowHandle.SetRotation(stream, eRotation);
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}
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}
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}
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