103 lines
3.4 KiB
C#
103 lines
3.4 KiB
C#
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using UnityEngine;
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using System.Collections;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// Using a spline to limit the range of rotation on universal and ball-and-socket joints.
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/// Reachable area is defined by an AnimationCurve orthogonally mapped onto a sphere.
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/// </summary>
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[HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")]
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[AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Spline")]
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public class RotationLimitSpline : RotationLimit {
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// Open the User Manual URL
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[ContextMenu("User Manual")]
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private void OpenUserManual() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html");
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}
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// Open the Script Reference URL
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[ContextMenu("Scrpt Reference")]
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private void OpenScriptReference() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_spline.html");
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}
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// Link to the Final IK Google Group
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[ContextMenu("Support Group")]
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void SupportGroup() {
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Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik");
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}
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// Link to the Final IK Asset Store thread in the Unity Community
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[ContextMenu("Asset Store Thread")]
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void ASThread() {
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Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/");
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}
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#region Main Interface
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/// <summary>
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/// Limit of twist rotation around the main axis.
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/// </summary>
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[Range(0f, 180f)] public float twistLimit = 180;
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/// <summary>
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/// Set the spline keyframes.
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/// </summary>
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/// <param name='keyframes'>
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/// Keyframes.
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/// </param>
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public void SetSpline(Keyframe[] keyframes) {
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spline.keys = keyframes;
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}
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/*
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* The AnimationCurve orthogonally mapped onto a sphere that defines the swing limits
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* */
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[SerializeField][HideInInspector] public AnimationCurve spline;
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#endregion Main Interface
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/*
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* Limits the rotation in the local space of this instance's Transform.
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* */
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protected override Quaternion LimitRotation(Quaternion rotation) {
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// Subtracting off-limits swing
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Quaternion swing = LimitSwing(rotation);
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// Apply twist limits
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return LimitTwist(swing, axis, secondaryAxis, twistLimit);
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}
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/*
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* Apply the swing rotation limits
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* */
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public Quaternion LimitSwing(Quaternion rotation) {
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if (axis == Vector3.zero) return rotation; // Ignore with zero axes
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if (rotation == Quaternion.identity) return rotation; // Assuming initial rotation is in the reachable area
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// Get the rotation angle orthogonal to Axis
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Vector3 swingAxis = rotation * axis;
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float angle = GetOrthogonalAngle(swingAxis, secondaryAxis, axis);
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// Convert angle from 180 to 360 degrees representation
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float dot = Vector3.Dot(swingAxis, crossAxis);
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if (dot < 0) angle = 180 + (180 - angle);
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// Evaluate the limit for this angle
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float limit = spline.Evaluate(angle);
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// Get the limited swing axis
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Quaternion swingRotation = Quaternion.FromToRotation(axis, swingAxis);
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Quaternion limitedSwingRotation = Quaternion.RotateTowards(Quaternion.identity, swingRotation, limit);
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// Rotation from current(illegal) swing rotation to the limited(legal) swing rotation
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Quaternion toLimits = Quaternion.FromToRotation(swingAxis, limitedSwingRotation * axis);
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// Subtract the illegal rotation
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return toLimits * rotation;
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}
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}
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}
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