178 lines
9.1 KiB
Plaintext
178 lines
9.1 KiB
Plaintext
|
a $<24> 5.6.1f1 <00><><EFBFBD><EFBFBD> <00><><EFBFBD>0<05><><EFBFBD><EFBFBD>L.`?^<5E>0 D 7 <00><><EFBFBD><EFBFBD><EFBFBD> <00> <00> <00><> <00> <00> <00> <00> <00> <00> <00> <00> <00># <00> <00>+ H <00>3 <00><><EFBFBD><EFBFBD> <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> Q <00>j <00>
|
|||
|
|
<00> <00>< <00> <00>H H <00>Z <00><><EFBFBD><EFBFBD>
<00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> Q <00>j <00> <00> <00>g <00> <00> <00> <00> <00> <00># <00> <00>+ v ~ <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> <00> <00><> ! <00> <00><> " <00> <00><> # <00> <00> $ <00> <00> % <00> <00> & <00> <00># <00><><EFBFBD><EFBFBD>' <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>( <00> <00> <00> <00> ) H <00>j <00><><EFBFBD><EFBFBD><EFBFBD>* <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>+ @ <00> <00> <00> , Q <00>j <00> - <00> <00>* . <00> <00>8 / AssetMetaData guid data[0] data[1] data[2] data[3] pathName timeCreated originalChangeset originalName originalParent Hash128 originalDigest bytes[0] bytes[1] bytes[2] bytes[3] bytes[4] bytes[5] bytes[6] bytes[7] bytes[8] bytes[9] bytes[10] bytes[11] bytes[12] bytes[13] bytes[14] bytes[15] labels assetStoreRef licenseType <00><>z{<0E>@<40><05><>5^(<28>H' <00> 7 <00><><EFBFBD><EFBFBD><EFBFBD> <00> <00> <00><> <00>
<00> <00> <00> <00># . <00>, <00> <00><> <00> <00> <00># . <00>, H <00><> <00><><EFBFBD><EFBFBD><EFBFBD> <01> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00>
|
|||
|
|
Q <00>j <00> <00> <00>5 <00><><EFBFBD><EFBFBD> <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>
<00> <00> <00> <00> <00>j <00><><EFBFBD><EFBFBD><EFBFBD> <00> H <00><> <00><><EFBFBD><EFBFBD><EFBFBD> <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> Q <00>j <00> y <00>
|
|||
|
|
<00> <00> <00># . <00>, <00>I @ <00> <00>X @ <00> <00># . <00>, H <00>] <00><><EFBFBD><EFBFBD> <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> Q <00>j <00> H <00>h <00><><EFBFBD><EFBFBD> <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> ! Q <00>j <00> " H <00>z <00><><EFBFBD><EFBFBD># <00> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>$ @ <00> <00> <00> % Q <00>j <00> & MonoImporter PPtr<EditorExtension> m_FileID m_PathID m_DefaultReferences executionOrder icon m_UserData m_AssetBundleName m_AssetBundleVariant s <00><><EFBFBD>8-l'<27><>愁h<E68481>ΐA, <00> <00>7 <00><><EFBFBD><EFBFBD><EFBFBD> <00> <00> <00><> <00> <00> <00> <00> <00> . <00> <00> <00><> <00> <00> <00> . <00> H <00><> <00><><EFBFBD><EFBFBD><EFBFBD> <01> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00>
|
|||
|
|
Q <00>j <00> H <00><> <00><><EFBFBD><EFBFBD><EFBFBD> <01> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>
@ <00> <00> <00> Q <00>j <00> <00> <00>( <00><><EFBFBD><EFBFBD> <01> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> <01> <00> <00> <00> <00>j <00><><EFBFBD><EFBFBD><EFBFBD> <01> H <00><> <00><><EFBFBD><EFBFBD><EFBFBD> <01> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> Q <00>j <00> y <00>
|
|||
|
|
<00> <00> <00> . <00> y <00>< <00> <00> . <00> <00> <00>C H <00>T <00><><EFBFBD><EFBFBD> <10> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD> @ <00> <00> <00> ! Q <00>j <00> " H <00>` <00><><EFBFBD><EFBFBD># <10> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>$ @ <00> <00> <00> % Q <00>j <00> & H <00>l <00><><EFBFBD><EFBFBD>' <10> 1 <00>1 <00><><EFBFBD><EFBFBD><EFBFBD>( @ <00> <00> <00> ) Q <00>j <00> * L <00>{ + PPtr<EditorExtension> m_FileID m_PathID m_DefaultReferences m_Icon m_ExecutionOrder m_ClassName m_Namespace m_AssemblyName m_IsEditorScript | <00> @ <00>y<EFBFBD> <00> <00> <00>"<22>:<3A>/<2F>L<EFBFBD>h<EFBFBD>BDD$<24>$ Assets/SteamVR/Scripts/SteamVR_IK.csE<73><45>U
|
|||
|
|
SteamVR_IK ^ //======= Copyright (c) Valve Corporation, All rights reserved. ===============
|
|||
|
|
//
|
|||
|
|
// Purpose: Simple two bone ik solver.
|
|||
|
|
//
|
|||
|
|
//=============================================================================
|
|||
|
|
|
|||
|
|
using UnityEngine;
|
|||
|
|
|
|||
|
|
public class SteamVR_IK : MonoBehaviour
|
|||
|
|
{
|
|||
|
|
public Transform target;
|
|||
|
|
public Transform start, joint, end;
|
|||
|
|
public Transform poleVector, upVector;
|
|||
|
|
|
|||
|
|
public float blendPct = 1.0f;
|
|||
|
|
|
|||
|
|
[HideInInspector]
|
|||
|
|
public Transform startXform, jointXform, endXform;
|
|||
|
|
|
|||
|
|
void LateUpdate()
|
|||
|
|
{
|
|||
|
|
const float epsilon = 0.001f;
|
|||
|
|
if (blendPct < epsilon)
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
var preUp = upVector ? upVector.up : Vector3.Cross(end.position - start.position, joint.position - start.position).normalized;
|
|||
|
|
|
|||
|
|
var targetPosition = target.position;
|
|||
|
|
var targetRotation = target.rotation;
|
|||
|
|
|
|||
|
|
Vector3 forward, up, result = joint.position;
|
|||
|
|
Solve(start.position, targetPosition, poleVector.position,
|
|||
|
|
(joint.position - start.position).magnitude,
|
|||
|
|
(end.position - joint.position).magnitude,
|
|||
|
|
ref result, out forward, out up);
|
|||
|
|
|
|||
|
|
if (up == Vector3.zero)
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
var startPosition = start.position;
|
|||
|
|
var jointPosition = joint.position;
|
|||
|
|
var endPosition = end.position;
|
|||
|
|
|
|||
|
|
var startRotationLocal = start.localRotation;
|
|||
|
|
var jointRotationLocal = joint.localRotation;
|
|||
|
|
var endRotationLocal = end.localRotation;
|
|||
|
|
|
|||
|
|
var startParent = start.parent;
|
|||
|
|
var jointParent = joint.parent;
|
|||
|
|
var endParent = end.parent;
|
|||
|
|
|
|||
|
|
var startScale = start.localScale;
|
|||
|
|
var jointScale = joint.localScale;
|
|||
|
|
var endScale = end.localScale;
|
|||
|
|
|
|||
|
|
if (startXform == null)
|
|||
|
|
{
|
|||
|
|
startXform = new GameObject("startXform").transform;
|
|||
|
|
startXform.parent = transform;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
startXform.position = startPosition;
|
|||
|
|
startXform.LookAt(joint, preUp);
|
|||
|
|
start.parent = startXform;
|
|||
|
|
|
|||
|
|
if (jointXform == null)
|
|||
|
|
{
|
|||
|
|
jointXform = new GameObject("jointXform").transform;
|
|||
|
|
jointXform.parent = startXform;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
jointXform.position = jointPosition;
|
|||
|
|
jointXform.LookAt(end, preUp);
|
|||
|
|
joint.parent = jointXform;
|
|||
|
|
|
|||
|
|
if (endXform == null)
|
|||
|
|
{
|
|||
|
|
endXform = new GameObject("endXform").transform;
|
|||
|
|
endXform.parent = jointXform;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
endXform.position = endPosition;
|
|||
|
|
end.parent = endXform;
|
|||
|
|
|
|||
|
|
startXform.LookAt(result, up);
|
|||
|
|
jointXform.LookAt(targetPosition, up);
|
|||
|
|
endXform.rotation = targetRotation;
|
|||
|
|
|
|||
|
|
start.parent = startParent;
|
|||
|
|
joint.parent = jointParent;
|
|||
|
|
end.parent = endParent;
|
|||
|
|
|
|||
|
|
end.rotation = targetRotation; // optionally blend?
|
|||
|
|
|
|||
|
|
// handle blending in/out
|
|||
|
|
if (blendPct < 1.0f)
|
|||
|
|
{
|
|||
|
|
start.localRotation = Quaternion.Slerp(startRotationLocal, start.localRotation, blendPct);
|
|||
|
|
joint.localRotation = Quaternion.Slerp(jointRotationLocal, joint.localRotation, blendPct);
|
|||
|
|
end.localRotation = Quaternion.Slerp(endRotationLocal, end.localRotation, blendPct);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// restore scale so it doesn't blow out
|
|||
|
|
start.localScale = startScale;
|
|||
|
|
joint.localScale = jointScale;
|
|||
|
|
end.localScale = endScale;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public static bool Solve(
|
|||
|
|
Vector3 start, // shoulder / hip
|
|||
|
|
Vector3 end, // desired hand / foot position
|
|||
|
|
Vector3 poleVector, // point to aim elbow / knee toward
|
|||
|
|
float jointDist, // distance from start to elbow / knee
|
|||
|
|
float targetDist, // distance from joint to hand / ankle
|
|||
|
|
ref Vector3 result, // original and output elbow / knee position
|
|||
|
|
out Vector3 forward, out Vector3 up) // plane formed by root, joint and target
|
|||
|
|
{
|
|||
|
|
var totalDist = jointDist + targetDist;
|
|||
|
|
var start2end = end - start;
|
|||
|
|
var poleVectorDir = (poleVector - start).normalized;
|
|||
|
|
var baseDist = start2end.magnitude;
|
|||
|
|
|
|||
|
|
result = start;
|
|||
|
|
|
|||
|
|
const float epsilon = 0.001f;
|
|||
|
|
if (baseDist < epsilon)
|
|||
|
|
{
|
|||
|
|
// move jointDist toward jointTarget
|
|||
|
|
result += poleVectorDir * jointDist;
|
|||
|
|
|
|||
|
|
forward = Vector3.Cross(poleVectorDir, Vector3.up);
|
|||
|
|
up = Vector3.Cross(forward, poleVectorDir).normalized;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
forward = start2end * (1.0f / baseDist);
|
|||
|
|
up = Vector3.Cross(forward, poleVectorDir).normalized;
|
|||
|
|
|
|||
|
|
if (baseDist + epsilon < totalDist)
|
|||
|
|
{
|
|||
|
|
// calculate the area of the triangle to determine its height
|
|||
|
|
var p = (totalDist + baseDist) * 0.5f; // half perimeter
|
|||
|
|
if (p > jointDist + epsilon && p > targetDist + epsilon)
|
|||
|
|
{
|
|||
|
|
var A = Mathf.Sqrt(p * (p - jointDist) * (p - targetDist) * (p - baseDist));
|
|||
|
|
var height = 2.0f * A / baseDist; // distance of joint from line between root and target
|
|||
|
|
|
|||
|
|
var dist = Mathf.Sqrt((jointDist * jointDist) - (height * height));
|
|||
|
|
var right = Vector3.Cross(up, forward); // no need to normalized - already orthonormal
|
|||
|
|
|
|||
|
|
result += (forward * dist) + (right * height);
|
|||
|
|
return true; // in range
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// move jointDist toward jointTarget
|
|||
|
|
result += poleVectorDir * jointDist;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// move elboDist toward target
|
|||
|
|
result += forward * jointDist;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return false; // edge cases
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
SteamVR_IK Assembly-CSharp.dll
|