testss

Library/PackageCache/com.unity.2d.animation@6.0.1/IK/Runtime/LimbSolver2D.cs

@@ -0,0 +1,91 @@
+using System.Collections.Generic;
+using UnityEngine.Scripting.APIUpdating;
+
+namespace UnityEngine.U2D.IK
+{
+    /// <summary>
+    /// Component for 2D Limb IK.
+    /// </summary>
+    [MovedFrom("UnityEngine.Experimental.U2D.IK")]
+    [Solver2DMenuAttribute("Limb")]
+    public class LimbSolver2D : Solver2D
+    {
+        [SerializeField]
+        private IKChain2D m_Chain = new IKChain2D();
+
+        [SerializeField]
+        private bool m_Flip;
+        private Vector3[] m_Positions = new Vector3[3];
+        private float[] m_Lengths = new float[2];
+        private float[] m_Angles = new float[2];
+
+        /// <summary>
+        /// Get Set for flip property.
+        /// </summary>
+        public bool flip
+        {
+            get { return m_Flip; }
+            set { m_Flip = value; }
+        }
+
+        /// <summary>
+        /// Override base class DoInitialize.
+        /// </summary>
+        protected override void DoInitialize()
+        {
+            m_Chain.transformCount = m_Chain.effector == null || IKUtility.GetAncestorCount(m_Chain.effector) < 2 ? 0 : 3;
+            base.DoInitialize();
+        }
+
+        /// <summary>
+        /// Override base class GetChainCount.
+        /// </summary>
+        /// <returns>Always returns 1.</returns>
+        protected override int GetChainCount()
+        {
+            return 1;
+        }
+
+        /// <summary>
+        /// Override base class GetChain.
+        /// </summary>
+        /// <param name="index">Index to query.</param>
+        /// <returns>Returns IKChain2D for the Solver.</returns>
+        public override IKChain2D GetChain(int index)
+        {
+            return m_Chain;
+        }
+
+        /// <summary>
+        /// Override base class DoPrepare.
+        /// </summary>
+        protected override void DoPrepare()
+        {
+            var lengths = m_Chain.lengths;
+            m_Positions[0] = m_Chain.transforms[0].position;
+            m_Positions[1] = m_Chain.transforms[1].position;
+            m_Positions[2] = m_Chain.transforms[2].position;
+            m_Lengths[0] = lengths[0];
+            m_Lengths[1] = lengths[1];
+        }
+
+        /// <summary>
+        /// OVerride base class DoUpdateIK.
+        /// </summary>
+        /// <param name="effectorPositions">List of effector positions.</param>
+        protected override void DoUpdateIK(List<Vector3> effectorPositions)
+        {
+            Vector3 effectorPosition = effectorPositions[0];
+            Vector2 effectorLocalPosition2D = m_Chain.transforms[0].InverseTransformPoint(effectorPosition);
+            effectorPosition = m_Chain.transforms[0].TransformPoint(effectorLocalPosition2D);
+
+            if (effectorLocalPosition2D.sqrMagnitude > 0f && Limb.Solve(effectorPosition, m_Lengths, m_Positions, ref m_Angles))
+            {
+                float flipSign = flip ? -1f : 1f;
+                m_Chain.transforms[0].localRotation *= Quaternion.FromToRotation(Vector3.right, effectorLocalPosition2D) * Quaternion.FromToRotation(m_Chain.transforms[1].localPosition, Vector3.right);
+                m_Chain.transforms[0].localRotation *= Quaternion.AngleAxis(flipSign * m_Angles[0], Vector3.forward);
+                m_Chain.transforms[1].localRotation *= Quaternion.FromToRotation(Vector3.right, m_Chain.transforms[1].InverseTransformPoint(effectorPosition)) * Quaternion.FromToRotation(m_Chain.transforms[2].localPosition, Vector3.right);
+            }
+        }
+    }
+}