// Token: 0x06002730 RID: 10032 RVA: 0x000B5A1C File Offset: 0x000B3C1C
private Quaternion SingleDegree()
{
Vector3 target = GenericMath.TransformVector(this.axis, this.joint.transform.localRotation);
float num;
Vector3 rhs;
GenericMath.QuaternionToAngleAxis(GenericMath.ApplyQuaternion(GenericMath.RotateFromTo(this.axis, target), this.joint.localRotation), out num, out rhs);
float x = this.hingLimit.x;
float y = this.hingLimit.y;
float num2 = Vector3.Dot(this.axis, rhs);
num = GenericMath.Clamp(num * num2, x, y);
this.joint.localRotation = GenericMath.QuaternionFromAngleAxis(num, this.axis);
return(this.joint.localRotation);
}
/// <summary>
/// Limit the motion to 1 Degree of freedom
/// </summary>
/// <param name="_localRot"></param>
/// <returns></returns>
private Quaternion SingleDegree()
{
float angle;
Vector3 axis;
//Hinge only Quaternion
Vector3 _localAxis = GenericMath.TransformVector(this.axis, joint.transform.localRotation);
Quaternion _delta = GenericMath.RotateFromTo(this.axis, _localAxis);
Quaternion _legalRot = GenericMath.ApplyQuaternion(_delta, joint.localRotation);
GenericMath.QuaternionToAngleAxis(_legalRot, out angle, out axis);
float min = hingLimit.x;
float max = hingLimit.y;
float dot = Vector3.Dot(this.axis, axis);
//clamp values
//angle = Mathf.Clamp(angle * dot, min, max); //Unity's Clamp gives NaN values in particular cases so use our own
angle = GenericMath.Clamp(angle * dot, min, max);
joint.localRotation = GenericMath.QuaternionFromAngleAxis(angle, this.axis);
return(joint.localRotation);
}
// Token: 0x060034A8 RID: 13480 RVA: 0x000E5E2C File Offset: 0x000E402C
public static Quaternion RotateFromTo(Vector3 _source, Vector3 _target)
{
_source.Normalize();
_target.Normalize();
return(Quaternion.Inverse(GenericMath.QuaternionFromAngleAxis(GenericMath.VectorsAngle(_source, _target), Vector3.Cross(_source, _target).normalized)));
}
