static void AngleAxisRaw(Vector3 origin, float angle, Vector3 axis, Quaternion startRotation, BaseVectorDirection builtinDirection, float halfAxisLenght, Vector3 direction, bool showVectorLabel = !default(bool))
{
Color temp = Gizmos.color;
direction.Normalize();
Gizmos.color = new Color32(162, 0, 255, 255);
Gizmos.DrawRay(origin - axis.normalized * halfAxisLenght, axis.normalized * halfAxisLenght * 2);
GizmosForVector.DrawVector(origin - axis.normalized * halfAxisLenght,
axis.normalized, halfAxisLenght * 2, Gizmos.color);
Quaternion endRotation = Quaternion.AngleAxis(angle, axis);
endRotation = endRotation * startRotation;
// Slerp (origin, startRotation, endRotation, builtinDirection, halfAxisLenght, direction, showVectorLabel);
InterpolateQuaternions(Quaternion.Slerp, origin, startRotation, endRotation, builtinDirection, halfAxisLenght, direction, showVectorLabel);
Quaternion middle = Quaternion.Slerp(startRotation, endRotation, 0.5f);
// DrawQuaternion (origin, middle, Color.yellow, 6, direction);////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
GizmosForVector.ShowLabel(origin + middle * direction * halfAxisLenght, //* startRotation
// System.Math.Round (Quaternion.Angle (startRotation, endRotation), 0) + "\xB0", Color.magenta);
// System.Math.Round ((startRotation * Quaternion.Inverse (endRotation)).SignedAngle ()) + "\xB0", Color.magenta);
System.Math.Round((Quaternion.Inverse(endRotation) * startRotation).SignedAngle()) + "\xB0", Color.magenta);
//System.Math.Round ((angle), 2) + "\xB0", Color.magenta);
//first * Quaternion.Inverse (second)
Gizmos.color = temp;
}
public static void DrawCoordinateSystem(Vector3 origin, Quaternion rotationOfCoordinateSystem, float axisLenght = 3)
{
GizmosForVector.DrawVector(origin, rotationOfCoordinateSystem * Vector3.right, axisLenght,
Color.red, "x", Vector3.zero, false);
GizmosForVector.DrawVector(origin, rotationOfCoordinateSystem * Vector3.up, axisLenght,
Color.green, "y", Vector3.zero, false);
GizmosForVector.DrawVector(origin, rotationOfCoordinateSystem * Vector3.forward, axisLenght,
Color.blue, "z", Vector3.zero, false);
}
