228 lines
		
	
	
		
			8.5 KiB
		
	
	
	
		
			C#
		
	
			
		
		
	
	
			228 lines
		
	
	
		
			8.5 KiB
		
	
	
	
		
			C#
		
	
/******************************************************************************
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 * Spine Runtimes Software License v2.5
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 *
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 * Copyright (c) 2013-2016, Esoteric Software
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 * All rights reserved.
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 *
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 * You are granted a perpetual, non-exclusive, non-sublicensable, and
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 * non-transferable license to use, install, execute, and perform the Spine
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 * Runtimes software and derivative works solely for personal or internal
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 * use. Without the written permission of Esoteric Software (see Section 2 of
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 * the Spine Software License Agreement), you may not (a) modify, translate,
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 * adapt, or develop new applications using the Spine Runtimes or otherwise
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 * create derivative works or improvements of the Spine Runtimes or (b) remove,
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 * delete, alter, or obscure any trademarks or any copyright, trademark, patent,
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 * or other intellectual property or proprietary rights notices on or in the
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 * Software, including any copy thereof. Redistributions in binary or source
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 * form must include this license and terms.
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 *
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 * THIS SOFTWARE IS PROVIDED BY ESOTERIC SOFTWARE "AS IS" AND ANY EXPRESS OR
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 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
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 * EVENT SHALL ESOTERIC SOFTWARE BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES, BUSINESS INTERRUPTION, OR LOSS OF
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 * USE, DATA, OR PROFITS) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
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 * IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 * POSSIBILITY OF SUCH DAMAGE.
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 *****************************************************************************/
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using System;
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namespace Spine {
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	public class IkConstraint : IConstraint {
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		internal IkConstraintData data;
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		internal ExposedList<Bone> bones = new ExposedList<Bone>();
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		internal Bone target;
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		internal float mix;
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		internal int bendDirection;
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		public IkConstraintData Data { get { return data; } }
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		public int Order { get { return data.order; } }
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		public ExposedList<Bone> Bones { get { return bones; } }
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		public Bone Target { get { return target; } set { target = value; } }
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		public int BendDirection { get { return bendDirection; } set { bendDirection = value; } }
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		public float Mix { get { return mix; } set { mix = value; } }
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		public IkConstraint (IkConstraintData data, Skeleton skeleton) {
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			if (data == null) throw new ArgumentNullException("data", "data cannot be null.");
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			if (skeleton == null) throw new ArgumentNullException("skeleton", "skeleton cannot be null.");
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			this.data = data;
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			mix = data.mix;
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			bendDirection = data.bendDirection;
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			bones = new ExposedList<Bone>(data.bones.Count);
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			foreach (BoneData boneData in data.bones)
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				bones.Add(skeleton.FindBone(boneData.name));
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			target = skeleton.FindBone(data.target.name);
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		}
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		/// <summary>Applies the constraint to the constrained bones.</summary>
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		public void Apply () {
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			Update();
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		}
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		public void Update () {
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			Bone target = this.target;
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			ExposedList<Bone> bones = this.bones;
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			switch (bones.Count) {
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			case 1:
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				Apply(bones.Items[0], target.worldX, target.worldY, mix);
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				break;
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			case 2:
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				Apply(bones.Items[0], bones.Items[1], target.worldX, target.worldY, bendDirection, mix);
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				break;
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			}
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		}
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		override public string ToString () {
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			return data.name;
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		}
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		/// <summary>Adjusts the bone rotation so the tip is as close to the target position as possible. The target is specified
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		/// in the world coordinate system.</summary>
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		static public void Apply (Bone bone, float targetX, float targetY, float alpha) {
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			if (!bone.appliedValid) bone.UpdateAppliedTransform();
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			Bone p = bone.parent;
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			float id = 1 / (p.a * p.d - p.b * p.c);
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			float x = targetX - p.worldX, y = targetY - p.worldY;
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			float tx = (x * p.d - y * p.b) * id - bone.ax, ty = (y * p.a - x * p.c) * id - bone.ay;
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			float rotationIK = (float)Math.Atan2(ty, tx) * MathUtils.RadDeg - bone.ashearX - bone.arotation;
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			if (bone.ascaleX < 0) rotationIK += 180;
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			if (rotationIK > 180)
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				rotationIK -= 360;
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			else if (rotationIK < -180) rotationIK += 360;
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			bone.UpdateWorldTransform(bone.ax, bone.ay, bone.arotation + rotationIK * alpha, bone.ascaleX, bone.ascaleY, bone.ashearX,
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				bone.ashearY);
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		}
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		/// <summary>Adjusts the parent and child bone rotations so the tip of the child is as close to the target position as
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		/// possible. The target is specified in the world coordinate system.</summary>
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		/// <param name="child">A direct descendant of the parent bone.</param>
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		static public void Apply (Bone parent, Bone child, float targetX, float targetY, int bendDir, float alpha) {
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			if (alpha == 0) {
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				child.UpdateWorldTransform ();
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				return;
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			}
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			//float px = parent.x, py = parent.y, psx = parent.scaleX, psy = parent.scaleY, csx = child.scaleX;
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			if (!parent.appliedValid) parent.UpdateAppliedTransform();
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			if (!child.appliedValid) child.UpdateAppliedTransform();
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			float px = parent.ax, py = parent.ay, psx = parent.ascaleX, psy = parent.ascaleY, csx = child.ascaleX;
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			int os1, os2, s2;
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			if (psx < 0) {
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				psx = -psx;
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				os1 = 180;
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				s2 = -1;
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			} else {
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				os1 = 0;
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				s2 = 1;
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			}
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			if (psy < 0) {
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				psy = -psy;
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				s2 = -s2;
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			}
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			if (csx < 0) {
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				csx = -csx;
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				os2 = 180;
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			} else
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				os2 = 0;
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			float cx = child.ax, cy, cwx, cwy, a = parent.a, b = parent.b, c = parent.c, d = parent.d;
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			bool u = Math.Abs(psx - psy) <= 0.0001f;
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			if (!u) {
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				cy = 0;
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				cwx = a * cx + parent.worldX;
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				cwy = c * cx + parent.worldY;
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			} else {
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				cy = child.ay;
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				cwx = a * cx + b * cy + parent.worldX;
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				cwy = c * cx + d * cy + parent.worldY;
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			}
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			Bone pp = parent.parent;
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			a = pp.a;
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			b = pp.b;
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			c = pp.c;
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			d = pp.d;
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			float id = 1 / (a * d - b * c), x = targetX - pp.worldX, y = targetY - pp.worldY;
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			float tx = (x * d - y * b) * id - px, ty = (y * a - x * c) * id - py;
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			x = cwx - pp.worldX;
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			y = cwy - pp.worldY;
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			float dx = (x * d - y * b) * id - px, dy = (y * a - x * c) * id - py;
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			float l1 = (float)Math.Sqrt(dx * dx + dy * dy), l2 = child.data.length * csx, a1, a2;
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			if (u) {
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				l2 *= psx;
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				float cos = (tx * tx + ty * ty - l1 * l1 - l2 * l2) / (2 * l1 * l2);
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				if (cos < -1)
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					cos = -1;
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				else if (cos > 1) cos = 1;
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				a2 = (float)Math.Acos(cos) * bendDir;
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				a = l1 + l2 * cos;
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				b = l2 * (float)Math.Sin(a2);
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				a1 = (float)Math.Atan2(ty * a - tx * b, tx * a + ty * b);
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			} else {
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				a = psx * l2;
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				b = psy * l2;
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				float aa = a * a, bb = b * b, dd = tx * tx + ty * ty, ta = (float)Math.Atan2(ty, tx);
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				c = bb * l1 * l1 + aa * dd - aa * bb;
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				float c1 = -2 * bb * l1, c2 = bb - aa;
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				d = c1 * c1 - 4 * c2 * c;
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				if (d >= 0) {
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					float q = (float)Math.Sqrt(d);
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					if (c1 < 0) q = -q;
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					q = -(c1 + q) / 2;
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					float r0 = q / c2, r1 = c / q;
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					float r = Math.Abs(r0) < Math.Abs(r1) ? r0 : r1;
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					if (r * r <= dd) {
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						y = (float)Math.Sqrt(dd - r * r) * bendDir;
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						a1 = ta - (float)Math.Atan2(y, r);
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						a2 = (float)Math.Atan2(y / psy, (r - l1) / psx);
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						goto break_outer; // break outer;
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					}
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				}
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				float minAngle = MathUtils.PI, minX = l1 - a, minDist = minX * minX, minY = 0;
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				float maxAngle = 0, maxX = l1 + a, maxDist = maxX * maxX, maxY = 0;
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				c = -a * l1 / (aa - bb);
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				if (c >= -1 && c <= 1) {
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					c = (float)Math.Acos(c);
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					x = a * (float)Math.Cos(c) + l1;
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					y = b * (float)Math.Sin(c);
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					d = x * x + y * y;
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					if (d < minDist) {
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						minAngle = c;
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						minDist = d;
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						minX = x;
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						minY = y;
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					}
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					if (d > maxDist) {
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						maxAngle = c;
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						maxDist = d;
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						maxX = x;
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						maxY = y;
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					}
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				}
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				if (dd <= (minDist + maxDist) / 2) {
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					a1 = ta - (float)Math.Atan2(minY * bendDir, minX);
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					a2 = minAngle * bendDir;
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				} else {
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					a1 = ta - (float)Math.Atan2(maxY * bendDir, maxX);
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					a2 = maxAngle * bendDir;
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				}
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			}
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			break_outer:
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			float os = (float)Math.Atan2(cy, cx) * s2;
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			float rotation = parent.arotation;
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			a1 = (a1 - os) * MathUtils.RadDeg + os1 - rotation;
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			if (a1 > 180)
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				a1 -= 360;
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			else if (a1 < -180) a1 += 360;
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			parent.UpdateWorldTransform(px, py, rotation + a1 * alpha, parent.scaleX, parent.ascaleY, 0, 0);
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			rotation = child.arotation;
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			a2 = ((a2 + os) * MathUtils.RadDeg - child.ashearX) * s2 + os2 - rotation;
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			if (a2 > 180)
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				a2 -= 360;
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			else if (a2 < -180) a2 += 360;
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			child.UpdateWorldTransform(cx, cy, rotation + a2 * alpha, child.ascaleX, child.ascaleY, child.ashearX, child.ashearY);
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		}
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	}
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}
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