float GradientWRTShell(TelescopeShell shell, Vector3 targetPos)
{
// Changing the twist angle causes the end effector to move
// along the tangent of the circle centered on the shell base.
// First, compute the center of the circle.
Vector3 shellBase = shell.StartPointWS;
Vector3 circleNormal = shell.StartTangentWS.normalized;
Vector3 currentEndEff = segment.LastShell.EndPointWS;
// The circle normal remains the same, but is shifted so that
// the current end effector is in the plane.
Vector3 fromEnd = shellBase - currentEndEff;
Vector3 nonPlanar = Vector3.Dot(fromEnd, circleNormal) * circleNormal;
Vector3 circleCenter = currentEndEff + (fromEnd - nonPlanar);
// The gradient is then the cross product of the current end position
// and the desired end position. This gives the axis of rotation
// required to move it there.
Vector3 centerToCurrent = currentEndEff - circleCenter;
Vector3 currentToTarget = targetPos - currentEndEff;
Vector3 axis = Vector3.Cross(centerToCurrent, currentToTarget);
// We can only rotate about the fixed shell axis, however,
// so the dot product gives the contribution from this axis.
return(Vector3.Dot(circleNormal, axis));
}
void AddGradientToTelescope(List <float> angles)
{
// Apply first telescope separately
float firstAngle = angles[0];
if (FreezeFirst)
{
firstAngle = 0;
}
// Since the first telescope is free, we just apply rotation about the tangent
Vector3 firstTangent = segment.shells[0].transform.forward;
Quaternion firstRotation = Quaternion.AngleAxis(firstAngle, firstTangent);
segment.shells[0].transform.rotation = firstRotation * segment.shells[0].transform.rotation;
// For the rest, just add to the twist angle
for (int i = 1; i < angles.Count; i++)
{
TelescopeShell s = segment.shells[i];
s.twistAngle = Mathf.Repeat(s.twistAngle - angles[i], 360);
if (s.twistAngle > 180)
{
s.twistAngle -= 360;
}
}
}
// Update is called once per frame
void LateUpdate()
{
if (Input.GetKeyDown("i"))
{
meshRenderer.enabled = true;
segment = FindObjectOfType <TelescopeSegment>();
if (segment)
{
TelescopeShell shell = segment.LastShell;
transform.parent = shell.transform;
segment.MinExt = 0.35f;
segment.ExtendImmediate(0);
}
}
if (Input.GetKeyDown("2"))
{
SplineCanvas c = FindObjectOfType <SplineCanvas>();
c.ReloadFromFile("rescue.canvas");
}
if (Input.GetKeyDown("1"))
{
animator.SetTrigger("toggle-close");
if (!rescued)
{
rescued = true;
teddyBear.transform.parent = transform;
}
else
{
teddyBear.transform.parent = null;
teddyBear.activate = true;
CameraControl cc = Camera.main.GetComponent <CameraControl>();
cc.FreeMove();
}
}
}
