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- using System;
- namespace Spine {
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-
- public class IkConstraint : IUpdatable {
- internal IkConstraintData data;
- internal ExposedList<Bone> bones = new ExposedList<Bone>();
- internal Bone target;
- internal int bendDirection;
- internal bool compress, stretch;
- internal float mix = 1, softness;
- internal bool active;
- public IkConstraint (IkConstraintData data, Skeleton skeleton) {
- if (data == null) throw new ArgumentNullException("data", "data cannot be null.");
- if (skeleton == null) throw new ArgumentNullException("skeleton", "skeleton cannot be null.");
- this.data = data;
- mix = data.mix;
- softness = data.softness;
- bendDirection = data.bendDirection;
- compress = data.compress;
- stretch = data.stretch;
- bones = new ExposedList<Bone>(data.bones.Count);
- foreach (BoneData boneData in data.bones)
- bones.Add(skeleton.FindBone(boneData.name));
- target = skeleton.FindBone(data.target.name);
- }
-
- public IkConstraint (IkConstraint constraint, Skeleton skeleton) {
- if (constraint == null) throw new ArgumentNullException("constraint cannot be null.");
- if (skeleton == null) throw new ArgumentNullException("skeleton cannot be null.");
- data = constraint.data;
- bones = new ExposedList<Bone>(constraint.Bones.Count);
- foreach (Bone bone in constraint.Bones)
- bones.Add(skeleton.Bones.Items[bone.data.index]);
- target = skeleton.Bones.Items[constraint.target.data.index];
- mix = constraint.mix;
- softness = constraint.softness;
- bendDirection = constraint.bendDirection;
- compress = constraint.compress;
- stretch = constraint.stretch;
- }
-
- public void Apply () {
- Update();
- }
- public void Update () {
- Bone target = this.target;
- ExposedList<Bone> bones = this.bones;
- switch (bones.Count) {
- case 1:
- Apply(bones.Items[0], target.worldX, target.worldY, compress, stretch, data.uniform, mix);
- break;
- case 2:
- Apply(bones.Items[0], bones.Items[1], target.worldX, target.worldY, bendDirection, stretch, softness, mix);
- break;
- }
- }
-
- public ExposedList<Bone> Bones {
- get { return bones; }
- }
-
- public Bone Target {
- get { return target; }
- set { target = value; }
- }
-
- public float Mix {
- get { return mix; }
- set { mix = value; }
- }
-
- public float Softness {
- get { return softness; }
- set { softness = value; }
- }
-
- public int BendDirection {
- get { return bendDirection; }
- set { bendDirection = value; }
- }
-
-
- public bool Compress {
- get { return compress; }
- set { compress = value; }
- }
-
-
-
- public bool Stretch {
- get { return stretch; }
- set { stretch = value; }
- }
- public bool Active {
- get { return active; }
- }
-
- public IkConstraintData Data {
- get { return data; }
- }
- override public string ToString () {
- return data.name;
- }
-
- static public void Apply (Bone bone, float targetX, float targetY, bool compress, bool stretch, bool uniform,
- float alpha) {
- if (!bone.appliedValid) bone.UpdateAppliedTransform();
- Bone p = bone.parent;
- float pa = p.a, pb = p.b, pc = p.c, pd = p.d;
- float rotationIK = -bone.ashearX - bone.arotation;
- float tx = 0, ty = 0;
- switch(bone.data.transformMode) {
- case TransformMode.OnlyTranslation:
- tx = targetX - bone.worldX;
- ty = targetY - bone.worldY;
- break;
- case TransformMode.NoRotationOrReflection: {
- float s = Math.Abs(pa * pd - pb * pc) / (pa * pa + pc * pc);
- float sa = pa / bone.skeleton.ScaleX;
- float sc = pc / bone.skeleton.ScaleY;
- pb = -sc * s * bone.skeleton.ScaleX;
- pd = sa * s * bone.skeleton.ScaleY;
- rotationIK += (float)Math.Atan2(pc, pa) * MathUtils.RadDeg;
- goto default;
- }
- default: {
- float x = targetX - p.worldX, y = targetY - p.worldY;
- float d = pa * pd - pb * pc;
- tx = (x * pd - y * pb) / d - bone.ax;
- ty = (y * pa - x * pc) / d - bone.ay;
- break;
- }
- }
- rotationIK += (float)Math.Atan2(ty, tx) * MathUtils.RadDeg;
- if (bone.ascaleX < 0) rotationIK += 180;
- if (rotationIK > 180)
- rotationIK -= 360;
- else if (rotationIK < -180)
- rotationIK += 360;
- float sx = bone.ascaleX, sy = bone.ascaleY;
- if (compress || stretch) {
- switch (bone.data.transformMode) {
- case TransformMode.NoScale:
- tx = targetX - bone.worldX;
- ty = targetY - bone.worldY;
- break;
- case TransformMode.NoScaleOrReflection:
- tx = targetX - bone.worldX;
- ty = targetY - bone.worldY;
- break;
- }
- float b = bone.data.length * sx, dd = (float)Math.Sqrt(tx * tx + ty * ty);
- if ((compress && dd < b) || (stretch && dd > b) && b > 0.0001f) {
- float s = (dd / b - 1) * alpha + 1;
- sx *= s;
- if (uniform) sy *= s;
- }
- }
- bone.UpdateWorldTransform(bone.ax, bone.ay, bone.arotation + rotationIK * alpha, sx, sy, bone.ashearX, bone.ashearY);
- }
-
-
- static public void Apply (Bone parent, Bone child, float targetX, float targetY, int bendDir, bool stretch, float softness,
- float alpha) {
- if (alpha == 0) {
- child.UpdateWorldTransform();
- return;
- }
- if (!parent.appliedValid) parent.UpdateAppliedTransform();
- if (!child.appliedValid) child.UpdateAppliedTransform();
- float px = parent.ax, py = parent.ay, psx = parent.ascaleX, sx = psx, psy = parent.ascaleY, csx = child.ascaleX;
- int os1, os2, s2;
- if (psx < 0) {
- psx = -psx;
- os1 = 180;
- s2 = -1;
- } else {
- os1 = 0;
- s2 = 1;
- }
- if (psy < 0) {
- psy = -psy;
- s2 = -s2;
- }
- if (csx < 0) {
- csx = -csx;
- os2 = 180;
- } else
- os2 = 0;
- float cx = child.ax, cy, cwx, cwy, a = parent.a, b = parent.b, c = parent.c, d = parent.d;
- bool u = Math.Abs(psx - psy) <= 0.0001f;
- if (!u) {
- cy = 0;
- cwx = a * cx + parent.worldX;
- cwy = c * cx + parent.worldY;
- } else {
- cy = child.ay;
- cwx = a * cx + b * cy + parent.worldX;
- cwy = c * cx + d * cy + parent.worldY;
- }
- Bone pp = parent.parent;
- a = pp.a;
- b = pp.b;
- c = pp.c;
- d = pp.d;
- float id = 1 / (a * d - b * c), x = cwx - pp.worldX, y = cwy - pp.worldY;
- float dx = (x * d - y * b) * id - px, dy = (y * a - x * c) * id - py;
- float l1 = (float)Math.Sqrt(dx * dx + dy * dy), l2 = child.data.length * csx, a1, a2;
- if (l1 < 0.0001f) {
- Apply(parent, targetX, targetY, false, stretch, false, alpha);
- child.UpdateWorldTransform(cx, cy, 0, child.ascaleX, child.ascaleY, child.ashearX, child.ashearY);
- return;
- }
- x = targetX - pp.worldX;
- y = targetY - pp.worldY;
- float tx = (x * d - y * b) * id - px, ty = (y * a - x * c) * id - py;
- float dd = tx * tx + ty * ty;
- if (softness != 0) {
- softness *= psx * (csx + 1) / 2;
- float td = (float)Math.Sqrt(dd), sd = td - l1 - l2 * psx + softness;
- if (sd > 0) {
- float p = Math.Min(1, sd / (softness * 2)) - 1;
- p = (sd - softness * (1 - p * p)) / td;
- tx -= p * tx;
- ty -= p * ty;
- dd = tx * tx + ty * ty;
- }
- }
- if (u) {
- l2 *= psx;
- float cos = (dd - l1 * l1 - l2 * l2) / (2 * l1 * l2);
- if (cos < -1)
- cos = -1;
- else if (cos > 1) {
- cos = 1;
- if (stretch) sx *= ((float)Math.Sqrt(dd) / (l1 + l2) - 1) * alpha + 1;
- }
- a2 = (float)Math.Acos(cos) * bendDir;
- a = l1 + l2 * cos;
- b = l2 * (float)Math.Sin(a2);
- a1 = (float)Math.Atan2(ty * a - tx * b, tx * a + ty * b);
- } else {
- a = psx * l2;
- b = psy * l2;
- float aa = a * a, bb = b * b, ta = (float)Math.Atan2(ty, tx);
- c = bb * l1 * l1 + aa * dd - aa * bb;
- float c1 = -2 * bb * l1, c2 = bb - aa;
- d = c1 * c1 - 4 * c2 * c;
- if (d >= 0) {
- float q = (float)Math.Sqrt(d);
- if (c1 < 0) q = -q;
- q = -(c1 + q) / 2;
- float r0 = q / c2, r1 = c / q;
- float r = Math.Abs(r0) < Math.Abs(r1) ? r0 : r1;
- if (r * r <= dd) {
- y = (float)Math.Sqrt(dd - r * r) * bendDir;
- a1 = ta - (float)Math.Atan2(y, r);
- a2 = (float)Math.Atan2(y / psy, (r - l1) / psx);
- goto break_outer;
- }
- }
- float minAngle = MathUtils.PI, minX = l1 - a, minDist = minX * minX, minY = 0;
- float maxAngle = 0, maxX = l1 + a, maxDist = maxX * maxX, maxY = 0;
- c = -a * l1 / (aa - bb);
- if (c >= -1 && c <= 1) {
- c = (float)Math.Acos(c);
- x = a * (float)Math.Cos(c) + l1;
- y = b * (float)Math.Sin(c);
- d = x * x + y * y;
- if (d < minDist) {
- minAngle = c;
- minDist = d;
- minX = x;
- minY = y;
- }
- if (d > maxDist) {
- maxAngle = c;
- maxDist = d;
- maxX = x;
- maxY = y;
- }
- }
- if (dd <= (minDist + maxDist) / 2) {
- a1 = ta - (float)Math.Atan2(minY * bendDir, minX);
- a2 = minAngle * bendDir;
- } else {
- a1 = ta - (float)Math.Atan2(maxY * bendDir, maxX);
- a2 = maxAngle * bendDir;
- }
- }
- break_outer:
- float os = (float)Math.Atan2(cy, cx) * s2;
- float rotation = parent.arotation;
- a1 = (a1 - os) * MathUtils.RadDeg + os1 - rotation;
- if (a1 > 180)
- a1 -= 360;
- else if (a1 < -180) a1 += 360;
- parent.UpdateWorldTransform(px, py, rotation + a1 * alpha, sx, parent.ascaleY, 0, 0);
- rotation = child.arotation;
- a2 = ((a2 + os) * MathUtils.RadDeg - child.ashearX) * s2 + os2 - rotation;
- if (a2 > 180)
- a2 -= 360;
- else if (a2 < -180) a2 += 360;
- child.UpdateWorldTransform(cx, cy, rotation + a2 * alpha, child.ascaleX, child.ascaleY, child.ashearX, child.ashearY);
- }
- }
- }
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