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Single bone IK.

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This commit is contained in:
NathanSweet 2014-07-22 23:44:23 +02:00
parent 6444e8e934
commit 62560444cf
1 changed files with 25 additions and 8 deletions
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31
spine-libgdx/src/com/esotericsoftware/spine/IkConstraint.java
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@ -1,7 +1,8 @@
package com.esotericsoftware.spine; package com.esotericsoftware.spine;
import com.badlogic.gdx.math.MathUtils; import static com.badlogic.gdx.math.MathUtils.*;
import com.badlogic.gdx.math.Vector2; import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.utils.Array; import com.badlogic.gdx.utils.Array;
@ -39,7 +40,14 @@ public class IkConstraint {
public void apply () { public void apply () {
Bone target = this.target; Bone target = this.target;
Array<Bone> bones = this.bones; Array<Bone> bones = this.bones;
switch (bones.size) {
case 1:
apply(bones.first(), target.worldX, target.worldY, mix);
break;
case 2:
apply(bones.first(), bones.get(1), target.worldX, target.worldY, bendDirection, mix); apply(bones.first(), bones.get(1), target.worldX, target.worldY, bendDirection, mix);
break;
}
} }
public Array<Bone> getBones () { public Array<Bone> getBones () {
@ -78,6 +86,15 @@ public class IkConstraint {
return data.name; return data.name;
} }
/** Adjusts the bone rotation so the tip is as close to the target position as possible. The target is specified in the world
* coordinate system. */
static public void apply (Bone bone, float targetX, float targetY, float alpha) {
float parentRotation = bone.parent == null ? 0 : bone.parent.worldRotation;
float rotation = bone.rotation;
float rotationIK = (float)Math.atan2(targetY - bone.getWorldY(), targetX - bone.getWorldX()) * radDeg - parentRotation;
bone.rotationIK = rotation + (rotationIK - rotation) * alpha;
}
/** Adjusts the parent and child bone rotations so the tip of the child is as close to the target position as possible. The /** Adjusts the parent and child bone rotations so the tip of the child is as close to the target position as possible. The
* target is specified in the world coordinate system. * target is specified in the world coordinate system.
* @param child Any descendant bone of the parent. */ * @param child Any descendant bone of the parent. */
@ -108,21 +125,21 @@ public class IkConstraint {
// Based on code by Ryan Juckett with permission: Copyright (c) 2008-2009 Ryan Juckett, http://www.ryanjuckett.com/ // Based on code by Ryan Juckett with permission: Copyright (c) 2008-2009 Ryan Juckett, http://www.ryanjuckett.com/
float cosDenom = 2 * len1 * len2; float cosDenom = 2 * len1 * len2;
if (cosDenom < 0.0001f) { if (cosDenom < 0.0001f) {
child.rotationIK = childRotation child.rotationIK = childRotation + ((float)Math.atan2(targetY, targetX) * radDeg - parentRotation - childRotation)
+ ((float)Math.atan2(targetY, targetX) * MathUtils.radDeg - parentRotation - childRotation) * alpha; * alpha;
return; return;
} }
float cos = MathUtils.clamp((targetX * targetX + targetY * targetY - len1 * len1 - len2 * len2) / cosDenom, -1, 1); float cos = clamp((targetX * targetX + targetY * targetY - len1 * len1 - len2 * len2) / cosDenom, -1, 1);
float childAngle = (float)Math.acos(cos) * bendDirection; float childAngle = (float)Math.acos(cos) * bendDirection;
float adjacent = len1 + len2 * cos, opposite = len2 * MathUtils.sin(childAngle); float adjacent = len1 + len2 * cos, opposite = len2 * sin(childAngle);
float parentAngle = (float)Math.atan2(targetY * adjacent - targetX * opposite, targetX * adjacent + targetY * opposite); float parentAngle = (float)Math.atan2(targetY * adjacent - targetX * opposite, targetX * adjacent + targetY * opposite);
float rotation = (parentAngle - offset) * MathUtils.radDeg - parentRotation; float rotation = (parentAngle - offset) * radDeg - parentRotation;
if (rotation > 180) if (rotation > 180)
rotation -= 360; rotation -= 360;
else if (rotation < -180) // else if (rotation < -180) //
rotation += 360; rotation += 360;
parent.rotationIK = parentRotation + rotation * alpha; parent.rotationIK = parentRotation + rotation * alpha;
rotation = (childAngle + offset) * MathUtils.radDeg - childRotation; rotation = (childAngle + offset) * radDeg - childRotation;
if (rotation > 180) if (rotation > 180)
rotation -= 360; rotation -= 360;
else if (rotation < -180) // else if (rotation < -180) //