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56 行
2.1 KiB
56 行
2.1 KiB
using UnityEngine;
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using UnityEngine.Experimental.Animations;
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public static class AnimJobUtilities
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{
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public static void SolveTwoBoneIK
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(
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AnimationStream stream,
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TransformStreamHandle topHandle,
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TransformStreamHandle midHandle,
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TransformStreamHandle lowHandle,
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Vector3 effectorPosition,
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Quaternion effectorRotation,
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float posWeight,
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float rotWeight)
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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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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 ab = bPosition - aPosition;
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Vector3 bc = cPosition - bPosition;
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Vector3 ac = cPosition - aPosition;
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Vector3 ad = (Vector3.Lerp(cPosition, effectorPosition, posWeight) - aPosition);
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float oldAbcAngle = TriangleAngle(ac.magnitude, ab, bc);
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float newAbcAngle = TriangleAngle(ad.magnitude, ab, bc);
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Vector3 axis = Vector3.Cross(ab, bc).normalized;
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float a = 0.5f * (oldAbcAngle - newAbcAngle);
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float sin = Mathf.Sin(a);
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float cos = Mathf.Cos(a);
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Quaternion q = new Quaternion(axis.x * sin, axis.y * sin, axis.z * sin, cos);
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Quaternion worldQ = q * bRotation;
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midHandle.SetRotation(stream, worldQ);
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aRotation = topHandle.GetRotation(stream);
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cPosition = lowHandle.GetPosition(stream);
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ac = cPosition - aPosition;
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Quaternion fromTo = Quaternion.FromToRotation(ac, ad);
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topHandle.SetRotation(stream, fromTo * aRotation);
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lowHandle.SetRotation(stream, Quaternion.Lerp(lowHandle.GetRotation(stream), effectorRotation, rotWeight));
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}
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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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}
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