testss

Library/PackageCache/com.unity.2d.animation@6.0.1/IK/Runtime/CCDSolver2D.cs

@@ -0,0 +1,114 @@
+using System.Collections.Generic;
+using UnityEngine.Profiling;
+using UnityEngine.Scripting.APIUpdating;
+
+namespace UnityEngine.U2D.IK
+{
+    /// <summary>
+    /// Component for 2D Cyclic Coordinate Descent (CCD) IK.
+    /// </summary>
+    [MovedFrom("UnityEngine.Experimental.U2D.IK")]
+    [Solver2DMenuAttribute("Chain (CCD)")]
+    public class CCDSolver2D : Solver2D
+    {
+        private const float kMinTolerance = 0.001f;
+        private const int kMinIterations = 1;
+        private const float kMinVelocity = 0.01f;
+        private const float kMaxVelocity = 1f;
+
+        [SerializeField]
+        private IKChain2D m_Chain = new IKChain2D();
+
+        [SerializeField][Range(kMinIterations, 50)]
+        private int m_Iterations = 10;
+        [SerializeField][Range(kMinTolerance, 0.1f)]
+        private float m_Tolerance = 0.01f;
+        [SerializeField][Range(0f, 1f)]
+        private float m_Velocity = 0.5f;
+
+        private Vector3[] m_Positions;
+
+        /// <summary>
+        /// Get and Set the solver's itegration count.
+        /// </summary>
+        public int iterations
+        {
+            get { return m_Iterations; }
+            set { m_Iterations = Mathf.Max(value, kMinIterations); }
+        }
+
+        /// <summary>
+        /// Get and Set target distance tolerance.
+        /// </summary>
+        public float tolerance
+        {
+            get { return m_Tolerance; }
+            set { m_Tolerance = Mathf.Max(value, kMinTolerance); }
+        }
+
+        /// <summary>
+        /// Get and Set the solver velocity.
+        /// </summary>
+        public float velocity
+        {
+            get { return m_Velocity; }
+            set { m_Velocity = Mathf.Clamp01(value); }
+        }
+
+        /// <summary>
+        /// Returns the number of chain in the solver.
+        /// </summary>
+        /// <returns>This always returns 1</returns>
+        protected override int GetChainCount()
+        {
+            return 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)
+        {
+            return 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 Vector3[m_Chain.transformCount];
+
+            for (int i = 0; i < m_Chain.transformCount; ++i)
+                m_Positions[i] = m_Chain.transforms[i].position;
+        }
+
+        /// <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("CCDSolver2D.DoUpdateIK");
+
+            Vector3 effectorPosition = effectorPositions[0];
+            Vector2 effectorLocalPosition2D = m_Chain.transforms[0].InverseTransformPoint(effectorPosition);
+            effectorPosition = m_Chain.transforms[0].TransformPoint(effectorLocalPosition2D);
+
+            if (CCD2D.Solve(effectorPosition, GetPlaneRootTransform().forward, iterations, tolerance, Mathf.Lerp(kMinVelocity, kMaxVelocity, m_Velocity), ref m_Positions))
+            {
+                for (int i = 0; i < m_Chain.transformCount - 1; ++i)
+                {
+                    Vector3 startLocalPosition = m_Chain.transforms[i + 1].localPosition;
+                    Vector3 endLocalPosition = m_Chain.transforms[i].InverseTransformPoint(m_Positions[i + 1]);
+                    m_Chain.transforms[i].localRotation *= Quaternion.FromToRotation(startLocalPosition, endLocalPosition);
+                }
+            }
+
+            Profiler.EndSample();
+        }
+    }
+}