/*
* converts spatial information to joint relative rotations
* -1 for right, 1 for left
*/
Quaternion _convertLocToRot(BodyJoint.JointType jType, BodyJoint.JointType jChild, Quaternion parentAtt, float dir)
{
Vector3 tForward = Quaternion.AngleAxis(180, Vector3.up) * (getJointLoc(jChild) - getJointLoc(jType));
Vector3 tRight = -Vector3.right;
Vector3 tUp = Vector3.Cross(tRight.normalized, tForward.normalized);
Quaternion tAtt = Quaternion.LookRotation(tForward.normalized, tUp.normalized) * Quaternion.AngleAxis(dir * 90, Vector3.up);
setJointRot(jType, Quaternion.Inverse(parentAtt) * tAtt);
return(tAtt);
}
public Quaternion setJointRot(BodyJoint.JointType type, Quaternion rot)
{
joint_rotations[(int)type] = rot;
return(rot);
}
public Vector3 getJointLoc(BodyJoint.JointType type)
{
return(joint_locations[(int)type]);
}
public Quaternion getJointRot(BodyJoint.JointType type)
{
return((Quaternion)joint_rotations[(int)type]);
}
