void Update()
{
// Always add DIRECTION * DELTA to the rotation
zRot += zDir * 0.4f;
// Change direction with the threshold (0, 60):
if (zRot > 60.0f || zRot < 0.0f)
{
zDir = -zDir;
}
Matrix4x4 rotZ = MatrixOperations.opRotate(zRot, MatrixOperations.AXIS.AX_Z);
Matrix4x4 right = MatrixOperations.opTranslate(1, 0, 0);
Matrix4x4 scale = MatrixOperations.opScale(1, 0.5f, 0.5f);
Matrix4x4 transformNoScale = rotZ * right;
Matrix4x4 transform = rotZ * right * scale;
Matrix4x4 rotZ2 = MatrixOperations.opRotate(zRot * 0.75f, MatrixOperations.AXIS.AX_Z);
Matrix4x4 transform2 = transformNoScale * right * rotZ2 * right * scale;
// Reset both links before transforming them:
bc1.resetPoints();
bc2.resetPoints();
// Finally, transform both links from their original points:
TransformMesh(bc1.getMesh(), transform);
TransformMesh(bc2.getMesh(), transform2);
}
void Update()
{
// Always add DIRECTION * DELTA to the rotation
zRot += zDir * 0.4f;
// Change direction with the threshold (0, 60):
if (zRot > 60.0f || zRot < 0.0f)
{
zDir = -zDir;
}
Matrix4x4 rotZ = MatrixOperations.opRotate(zRot, MatrixOperations.AXIS.AX_Z);
Matrix4x4 right = MatrixOperations.opTranslate(1, 0, 0);
Matrix4x4 scale = MatrixOperations.opScale(1, 0.5f, 0.5f);
Matrix4x4 transformNoScale = rotZ * right;
Matrix4x4 transform = rotZ * right * scale;
Matrix4x4 rotZ2 = MatrixOperations.opRotate(zRot * 0.75f, MatrixOperations.AXIS.AX_Z);
Matrix4x4 transform2 = transformNoScale * right * rotZ2 * right * scale;
/*
* //ORIGINAL METHOD WITHOUT MatrixOperations
* // Change the angle to radians for the first arm link:
* float rad = zRot * Mathf.Deg2Rad;
* // Change the angle to radians for the second arm link:
* float rad2 = zRot * 0.75f * Mathf.Deg2Rad;
*
* // Prepare a matrix to transform the first link:
* Matrix4x4 transform = Matrix4x4.identity;
* // Rotation matrix around Z:
* Matrix4x4 rotZ = Matrix4x4.identity;
* rotZ[0, 0] = Mathf.Cos(rad);
* rotZ[0, 1] = -Mathf.Sin(rad);
* rotZ[1, 0] = Mathf.Sin(rad);
* rotZ[1, 1] = Mathf.Cos(rad);
* // Translation matrix to the right:
* Matrix4x4 right = Matrix4x4.identity;
* right[0, 3] = 1.0f;
* // Scale matrix for 1/2 in Y and 1/2 in Z:
* Matrix4x4 scale = Matrix4x4.identity;
* scale[1, 1] = 0.5f;
* scale[2, 2] = 0.5f;
*
* // Keep the transformation without scale for the 2nd link:
* Matrix4x4 transformNoScale = rotZ * right;
* // Make the transform matrix for the first link:
* transform = rotZ * right * scale;
* //Debug.Log(transform);
*
* // Process the second link:
* Matrix4x4 transform2 = transformNoScale;
* Matrix4x4 rotZ2 = Matrix4x4.identity;
* rotZ2[0, 0] = Mathf.Cos(rad2);
* rotZ2[0, 1] = -Mathf.Sin(rad2);
* rotZ2[1, 0] = Mathf.Sin(rad2);
* rotZ2[1, 1] = Mathf.Cos(rad2);
*
* transform2 = transform2 * right * rotZ2 * right * scale; */
// Reset both links before transforming them:
bc1.resetPoints();
bc2.resetPoints();
// Finally, transform both links from their original points:
TransformMesh(bc1.getMesh(), transform);
TransformMesh(bc2.getMesh(), transform2);
}
