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- using System.Collections.Generic;
- using UnityEngine.Profiling;
- using UnityEngine.Scripting.APIUpdating;
-
- namespace UnityEngine.U2D.IK
- {
- /// <summary>
- /// Component for 2D Forward And Backward Reaching Inverse Kinematics (FABRIK) IK.
- /// </summary>
- [MovedFrom("UnityEngine.Experimental.U2D.IK")]
- [Solver2DMenu("Chain (FABRIK)")]
- public class FabrikSolver2D : Solver2D
- {
- const float k_MinTolerance = 0.001f;
- const int k_MinIterations = 1;
-
- [SerializeField]
- IKChain2D m_Chain = new IKChain2D();
-
- [SerializeField]
- [Range(k_MinIterations, 50)]
- int m_Iterations = 10;
-
- [SerializeField]
- [Range(k_MinTolerance, 0.1f)]
- float m_Tolerance = 0.01f;
-
- float[] m_Lengths;
- Vector2[] m_Positions;
- Vector3[] m_WorldPositions;
-
- /// <summary>
- /// Get and Set the solver's integration count.
- /// </summary>
- public int iterations
- {
- get => m_Iterations;
- set => m_Iterations = Mathf.Max(value, k_MinIterations);
- }
-
- /// <summary>
- /// Get and Set target distance tolerance.
- /// </summary>
- public float tolerance
- {
- get => m_Tolerance;
- set => m_Tolerance = Mathf.Max(value, k_MinTolerance);
- }
-
- /// <summary>
- /// Returns the number of chain in the solver.
- /// </summary>
- /// <returns>This always returns 1.</returns>
- protected override int GetChainCount() => 1;
-
- /// <summary>
- /// Gets the chain in the solver by index.
- /// </summary>
- /// <param name="index">Chain index.</param>
- /// <returns>Returns IKChain2D at the index.</returns>
- public override IKChain2D GetChain(int index) => m_Chain;
-
- /// <summary>
- /// DoPrepare override from base class.
- /// </summary>
- protected override void DoPrepare()
- {
- if (m_Positions == null || m_Positions.Length != m_Chain.transformCount)
- {
- m_Positions = new Vector2[m_Chain.transformCount];
- m_Lengths = new float[m_Chain.transformCount - 1];
- m_WorldPositions = new Vector3[m_Chain.transformCount];
- }
-
- for (var i = 0; i < m_Chain.transformCount; ++i)
- {
- m_Positions[i] = GetPointOnSolverPlane(m_Chain.transforms[i].position);
- }
-
- for (var i = 0; i < m_Chain.transformCount - 1; ++i)
- {
- m_Lengths[i] = (m_Positions[i + 1] - m_Positions[i]).magnitude;
- }
- }
-
- /// <summary>
- /// DoUpdateIK override from base class.
- /// </summary>
- /// <param name="effectorPositions">Target position for the chain.</param>
- protected override void DoUpdateIK(List<Vector3> effectorPositions)
- {
- Profiler.BeginSample(nameof(FabrikSolver2D.DoUpdateIK));
-
- var effectorPosition = effectorPositions[0];
- effectorPosition = GetPointOnSolverPlane(effectorPosition);
- if (FABRIK2D.Solve(effectorPosition, iterations, tolerance, m_Lengths, ref m_Positions))
- {
- // Convert all plane positions to world positions
- for (var i = 0; i < m_Positions.Length; ++i)
- {
- m_WorldPositions[i] = GetWorldPositionFromSolverPlanePoint(m_Positions[i]);
- }
-
- for (var i = 0; i < m_Chain.transformCount - 1; ++i)
- {
- var startLocalPosition = m_Chain.transforms[i + 1].localPosition;
- var endLocalPosition = m_Chain.transforms[i].InverseTransformPoint(m_WorldPositions[i + 1]);
- m_Chain.transforms[i].localRotation *= Quaternion.FromToRotation(startLocalPosition, endLocalPosition);
- }
- }
-
- Profiler.EndSample();
- }
- }
- }
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