testss

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

@@ -0,0 +1,46 @@
+using UnityEngine.Scripting.APIUpdating;
+
+namespace UnityEngine.U2D.IK
+{
+    /// <summary>
+    /// Utility for 2D Limb IK Solver.
+    /// </summary>
+    [MovedFrom("UnityEngine.Experimental.U2D.IK")]
+    public static class Limb
+    {
+        /// <summary>
+        /// Solve based on Limb IK
+        /// </summary>
+        /// <param name="targetPosition">Target position.</param>
+        /// <param name="lengths">Length of the chains.</param>
+        /// <param name="positions">Chain positions.</param>
+        /// <param name="outAngles">Output angles for the chain's position.</param>
+        /// <returns>Always returns true.</returns>
+        public static bool Solve(Vector3 targetPosition, float[] lengths, Vector3[] positions, ref float[] outAngles)
+        {
+            outAngles[0] = 0f;
+            outAngles[1] = 0f;
+
+            if (lengths[0] == 0f || lengths[1] == 0f)
+                return false;
+
+            Vector3 startToEnd = targetPosition - positions[0];
+            float distanceMagnitude = startToEnd.magnitude;
+            float sqrDistance = startToEnd.sqrMagnitude;
+
+            float sqrParentLength = (lengths[0] * lengths[0]);
+            float sqrTargetLength = (lengths[1] * lengths[1]);
+
+            float angle0Cos = (sqrDistance + sqrParentLength - sqrTargetLength) / (2f * lengths[0] * distanceMagnitude);
+            float angle1Cos = (sqrDistance - sqrParentLength - sqrTargetLength) / (2f * lengths[0] * lengths[1]);
+
+            if ((angle0Cos >= -1f && angle0Cos <= 1f) && (angle1Cos >= -1f && angle1Cos <= 1f))
+            {
+                outAngles[0] = Mathf.Acos(angle0Cos) * Mathf.Rad2Deg;
+                outAngles[1] = Mathf.Acos(angle1Cos) * Mathf.Rad2Deg;
+            }
+
+            return true;
+        }
+    }
+}