Add ultimate xr

Assets/UltimateXR/Runtime/Scripts/Animation/IK/UxrCcdLink.cs

@@ -0,0 +1,185 @@
+// --------------------------------------------------------------------------------------------------------------------
+// <copyright file="UxrCcdLink.cs" company="VRMADA">
+//   Copyright (c) VRMADA, All rights reserved.
+// </copyright>
+// --------------------------------------------------------------------------------------------------------------------
+using System;
+using UnityEngine;
+
+namespace UltimateXR.Animation.IK
+{
+    /// <summary>
+    ///     Defines a link -bone- in an IK chain solved using CCD.
+    /// </summary>
+    /// <seealso cref="UxrCcdIKSolver" />
+    [Serializable]
+    public class UxrCcdLink
+    {
+        #region Inspector Properties/Serialized Fields
+
+        // Setup in the editor
+        [SerializeField] private Transform            _bone;
+        [SerializeField] private float                _weight;
+        [SerializeField] private UxrCcdConstraintType _constraint;
+        [SerializeField] private Vector3              _rotationAxis1;
+        [SerializeField] private Vector3              _rotationAxis2;
+        [SerializeField] private bool                 _axis1HasLimits;
+        [SerializeField] private float                _axis1AngleMin;
+        [SerializeField] private float                _axis1AngleMax;
+        [SerializeField] private bool                 _axis2HasLimits;
+        [SerializeField] private float                _axis2AngleMin;
+        [SerializeField] private float                _axis2AngleMax;
+        [SerializeField] private bool                 _alignToGoal;
+
+        #endregion
+
+        #region Public Types & Data
+
+        /// <summary>
+        ///     Gets the link transform.
+        /// </summary>
+        public Transform Bone => _bone;
+
+        /// <summary>
+        ///     Gets the link constraint type.
+        /// </summary>
+        public UxrCcdConstraintType Constraint => _constraint;
+
+        /// <summary>
+        ///     Gets the first rotation axis.
+        /// </summary>
+        public Vector3 RotationAxis1 => _rotationAxis1;
+
+        /// <summary>
+        ///     Gets the second rotation axis when there are two constraints.
+        /// </summary>
+        public Vector3 RotationAxis2 => _rotationAxis2;
+
+        /// <summary>
+        ///     Gets whether the first axis has rotational limits.
+        /// </summary>
+        public bool Axis1HasLimits => _axis1HasLimits;
+
+        /// <summary>
+        ///     Gets the lower angle limits of the first axis.
+        /// </summary>
+        public float Axis1AngleMin => _axis1AngleMin;
+
+        /// <summary>
+        ///     Gets the higher angle limits of the first axis.
+        /// </summary>
+        public float Axis1AngleMax => _axis1AngleMax;
+
+        /// <summary>
+        ///     Gets whether the second axis has rotational limits when there are two constraints.
+        /// </summary>
+        public bool Axis2HasLimits => _axis2HasLimits;
+
+        /// <summary>
+        ///     Gets the lower angle limits of the second axis when there are two constraints.
+        /// </summary>
+        public float Axis2AngleMin => _axis2AngleMin;
+
+        /// <summary>
+        ///     Gets the higher angle limits of the second axis when there are two constraints.
+        /// </summary>
+        public float Axis2AngleMax => _axis2AngleMax;
+
+        /// <summary>
+        ///     Gets whether the effector should not only try to position itself on the goal but also use the same orientation.
+        /// </summary>
+        public bool AlignToGoal => _alignToGoal;
+
+        /// <summary>
+        ///     The weight among all the CCD links in the chain.
+        /// </summary>
+        public float Weight
+        {
+            get => _weight;
+            set => _weight = value;
+        }
+
+        /// <summary>
+        ///     Gets whether the data has been initialized.
+        /// </summary>
+        public bool Initialized { get; internal set; }
+
+        /// <summary>
+        ///     Gets the local rotation at the beginning.
+        /// </summary>
+        public Quaternion InitialLocalRotation { get; internal set; }
+
+        /// <summary>
+        ///     Gets a reference perpendicular to axis1 that is considered as the reference of having 0 degrees around axis1.
+        /// </summary>
+        public Vector3 LocalSpaceAxis1ZeroAngleVector { get; internal set; }
+
+        /// <summary>
+        ///     Gets a reference perpendicular to axis2 that is considered as the reference of having 0 degrees around axis2.
+        /// </summary>
+        public Vector3 LocalSpaceAxis2ZeroAngleVector { get; internal set; }
+
+        /// <summary>
+        ///     Gets the length of the link.
+        /// </summary>
+        public float LinkLength { get; internal set; }
+
+        /// <summary>
+        ///     Gets <see cref="RotationAxis1" /> in local space of the parent object.
+        /// </summary>
+        public Vector3 ParentSpaceAxis1 { get; internal set; }
+
+        /// <summary>
+        ///     Gets <see cref="RotationAxis2" /> in local space of the parent object.
+        /// </summary>
+        public Vector3 ParentSpaceAxis2 { get; internal set; }
+
+        /// <summary>
+        ///     Gets <see cref="LocalSpaceAxis1ZeroAngleVector" /> in local space of the parent object.
+        /// </summary>
+        public Vector3 ParentSpaceAxis1ZeroAngleVector { get; internal set; }
+
+        /// <summary>
+        ///     Gets <see cref="LocalSpaceAxis2ZeroAngleVector" /> in local space of the parent object.
+        /// </summary>
+        public Vector3 ParentSpaceAxis2ZeroAngleVector { get; internal set; }
+
+        /// <summary>
+        ///     Gets the transformation matrix that gets from world-space to local space in the parent transform.
+        /// </summary>
+        public Matrix4x4 MtxToLocalParent { get; internal set; }
+
+        /// <summary>
+        ///     Gets rotation degrees around <see cref="RotationAxis1" />.
+        /// </summary>
+        public float Angle1 { get; internal set; }
+
+        /// <summary>
+        ///     Gets rotation degrees around <see cref="RotationAxis2" />.
+        /// </summary>
+        public float Angle2 { get; internal set; }
+
+        #endregion
+
+        #region Constructors & Finalizer
+
+        /// <summary>
+        ///     Default constructor.
+        /// </summary>
+        public UxrCcdLink()
+        {
+            _weight         = 1.0f;
+            _constraint     = UxrCcdConstraintType.SingleAxis;
+            _rotationAxis1  = Vector3.right;
+            _rotationAxis2  = Vector3.up;
+            _axis1HasLimits = true;
+            _axis1AngleMin  = -45.0f;
+            _axis1AngleMax  = 45.0f;
+            _axis2HasLimits = false;
+            _axis2AngleMin  = -45.0f;
+            _axis2AngleMax  = 45.0f;
+        }
+
+        #endregion
+    }
+}