阶段性完成

Assets/OtherPlugins/FImpossible Creations/Plugins - Shared/IK/Limb/FimpIK_Limb.Bone.cs

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+using System;
+using UnityEngine;
+
+namespace FIMSpace.FTools
+{
+    public partial class FimpIK_Limb : FIK_ProcessorBase
+    {
+        public class IKBone : FIK_IKBoneBase
+        {
+            [SerializeField] private Quaternion targetToLocalSpace;
+            [SerializeField] private Vector3 defaultLocalPoleNormal;
+
+            public Vector3 right { get; private set; }
+            public Vector3 up { get; private set; }
+            public Vector3 forward { get; private set; }
+
+            public Vector3 srcPosition { get; private set; }
+            public Quaternion srcRotation { get; private set; }
+
+            public IKBone(Transform t) : base(t) { }
+
+            public void Init(Transform root, Vector3 childPosition, Vector3 orientationNormal)
+            {
+                RefreshOrientations(childPosition, orientationNormal);
+
+                sqrMagn = (childPosition - transform.position).sqrMagnitude;
+                LastKeyLocalRotation = transform.localRotation;
+
+                right = transform.InverseTransformDirection(root.right);
+                up = transform.InverseTransformDirection(root.up);
+                forward = transform.InverseTransformDirection(root.forward);
+
+                CaptureSourceAnimation();
+            }
+
+            public void RefreshOrientations(Vector3 childPosition, Vector3 orientationNormal)
+            {
+                if (orientationNormal == Vector3.zero) return;
+
+                Vector3 dir = childPosition - transform.position;
+                dir.Normalize();
+                if (dir == Vector3.zero) return;
+
+                Quaternion defaultTargetRotation = Quaternion.LookRotation(dir, orientationNormal);
+                targetToLocalSpace = RotationToLocal(transform.rotation, defaultTargetRotation);
+                defaultLocalPoleNormal = Quaternion.Inverse(transform.rotation) * orientationNormal;
+            }
+
+            public void CaptureSourceAnimation()
+            {
+                srcPosition = transform.position;
+                srcRotation = transform.rotation;
+            }
+
+            public static Quaternion RotationToLocal(Quaternion parent, Quaternion rotation)
+            { return Quaternion.Inverse(Quaternion.Inverse(parent) * rotation); }
+
+            public Quaternion GetRotation(Vector3 direction, Vector3 orientationNormal)
+            { return Quaternion.LookRotation(direction, orientationNormal) * targetToLocalSpace; }
+
+            public Vector3 GetCurrentOrientationNormal()
+            { return transform.rotation * (defaultLocalPoleNormal); }
+
+        }
+
+    }
+
+}