Hello all,
I was wandering if anyone knew how to fix this it says
Type or namespace definition, or end-of-file expected
I tried everything i knew but no luck
Here is the script
#if UNITY_EDITOR
using UnityEditor;
#endif
using UnityEngine;
namespace DitzelGames.FastIK
{
///
/// Fabrik IK Solver
///
public class FastIKFabric : MonoBehaviour
{
///
/// Chain length of bones
///
public int ChainLength = 2;
///
/// Target the chain should bent to
///
public Transform Target;
public Transform Pole;
///
/// Solver iterations per update
///
[Header(“Solver Parameters”)]
public int Iterations = 10;
///
/// Distance when the solver stops
///
public float Delta = 0.001f;
///
/// Strength of going back to the start position.
///
[Range(0, 1)]
public float SnapBackStrength = 1f;
protected float[ ] BonesLength; //Target to Origin
protected float CompleteLength;
protected Transform[ ] Bones;
protected Vector3[ ] Positions;
protected Vector3[ ] StartDirectionSucc;
protected Quaternion[ ] StartRotationBone;
protected Quaternion StartRotationTarget;
protected Transform Root;
// Start is called before the first frame update
void Awake()
{
Init();
}
void Init()
{
//initial array
Bones = new Transform[ChainLength + 1];
Positions = new Vector3[ChainLength + 1];
BonesLength = new float[ChainLength];
StartDirectionSucc = new Vector3[ChainLength + 1];
StartRotationBone = new Quaternion[ChainLength + 1];
//find root
Root = transform;
for (var i = 0; i <= ChainLength; i++)
{
if (Root == null)
throw new UnityException(“The chain value is longer than the ancestor chain!”);
Root = Root.parent;
}
//init target
if (Target == null)
{
Target = new GameObject(gameObject.name + " Target").transform;
SetPositionRootSpace(Target, GetPositionRootSpace(transform));
}
StartRotationTarget = GetRotationRootSpace(Target);
//init data
var current = transform;
CompleteLength = 0;
for (var i = Bones.Length - 1; i >= 0; i–)
{
Bones = current;
StartRotationBone = GetRotationRootSpace(current);
if (i == Bones.Length - 1)
{
//leaf
StartDirectionSucc = GetPositionRootSpace(Target) - GetPositionRootSpace(current);
}
else
{
//mid bone
StartDirectionSucc = GetPositionRootSpace(Bones[i + 1]) - GetPositionRootSpace(current);
BonesLength = StartDirectionSucc*.magnitude;*
CompleteLength += BonesLength*;*
}
current = current.parent;
}
}
// Update is called once per frame
void LateUpdate()
{
ResolveIK();
}
private void ResolveIK()
{
if (Target == null)
return;
if (BonesLength.Length != ChainLength)
Init();
//Fabric
// root
// (bone0) (bonelen 0) (bone1) (bonelen 1) (bone2)…
// x--------------------x--------------------x—…
//get position
for (int i = 0; i < Bones.Length; i++)
Positions = GetPositionRootSpace(Bones*);*
var targetPosition = GetPositionRootSpace(Target);
var targetRotation = GetRotationRootSpace(Target);
//1st is possible to reach?
if ((targetPosition - GetPositionRootSpace(Bones[0])).sqrMagnitude >= CompleteLength * CompleteLength)
{
//just strech it
var direction = (targetPosition - Positions[0]).normalized;
//set everything after root
for (int i = 1; i < Positions.Length; i++)
Positions = Positions[i - 1] + direction * BonesLength[i - 1];
}
else
{
for (int i = 0; i < Positions.Length - 1; i++)
Positions[i + 1] = Vector3.Lerp(Positions[i + 1], Positions + StartDirectionSucc*, SnapBackStrength);*
for (int iteration = 0; iteration < Iterations; iteration++)
{
//
*https://www.youtube.com/watch?v=UNoX65PRehA*_
//back
for (int i = Positions.Length - 1; i > 0; i–)
{
if (i == Positions.Length - 1)
Positions = targetPosition; //set it to target
else
Positions = Positions[i + 1] + (Positions - Positions[i + 1]).normalized * BonesLength*; //set in line on distance*
}
//forward
for (int i = 1; i < Positions.Length; i++)
Positions = Positions[i - 1] + (Positions - Positions[i - 1]).normalized * BonesLength[i - 1];
//close enough?
if ((Positions[Positions.Length - 1] - targetPosition).sqrMagnitude < Delta * Delta)
break;
}
}
//move towards pole
if (Pole != null)
{
var polePosition = GetPositionRootSpace(Pole);
for (int i = 1; i < Positions.Length - 1; i++)
{
var plane = new Plane(Positions[i + 1] - Positions[i - 1], Positions[i - 1]);
var projectedPole = plane.ClosestPointOnPlane(polePosition);
var projectedBone = plane.ClosestPointOnPlane(Positions*);*
var angle = Vector3.SignedAngle(projectedBone - Positions[i - 1], projectedPole - Positions[i - 1], plane.normal);
Positions = Quaternion.AngleAxis(angle, plane.normal) * (Positions - Positions[i - 1]) + Positions[i - 1];
}
}
//set position & rotation
for (int i = 0; i < Positions.Length; i++)
{
if (i == Positions.Length - 1)
SetRotationRootSpace(Bones, Quaternion.Inverse(targetRotation) * StartRotationTarget * Quaternion.Inverse(StartRotationBone*));
else
SetRotationRootSpace(Bones, Quaternion.FromToRotation(StartDirectionSucc, Positions[i + 1] - Positions) * Quaternion.Inverse(StartRotationBone));
SetPositionRootSpace(Bones, Positions);
}
}
private Vector3 GetPositionRootSpace(Transform current)
{
if (Root == null)
return current.position;
else
return Quaternion.Inverse(Root.rotation) * (current.position - Root.position);
}
private void SetPositionRootSpace(Transform current, Vector3 position)
{
if (Root == null)
current.position = position;
else
current.position = Root.rotation * position + Root.position;
}
private Quaternion GetRotationRootSpace(Transform current)
{
//inverse(after) * before => rot: before → after_
if (Root == null)
return current.rotation;
else
return Quaternion.Inverse(current.rotation) * Root.rotation;
_}
private void SetRotationRootSpace(Transform current, Quaternion rotation)
{
if (Root == null)
current.rotation = rotation;
else
current.rotation = Root.rotation * rotation;
}
void OnDrawGizmos()
{_
#if UNITY_EDITOR*
var current = this.transform;
for (int i = 0; i < ChainLength && current != null && current.parent != null; i++)
{
var scale = Vector3.Distance(current.position, current.parent.position) * 0.1f;
Handles.matrix = Matrix4x4.TRS(current.position, Quaternion.FromToRotation(Vector3.up, current.parent.position - current.position), new Vector3(scale, Vector3.Distance(current.parent.position, current.position), scale));
Handles.color = Color.green;
Handles.DrawWireCube(Vector3.up * 0.5f, Vector3.one);
current = current.parent;
}
}
#endif
}
}
}
