public void Forward(float value)
{
var vec = _root.Vector + _mid.Vector;
var target = vec.magnitude + value;
if (target > _root.Vector.magnitude + _mid.Vector.magnitude)
{
return;
}
if (Fix())
{
return;
}
// 利用三角函数计算出要移动的角度，相对法线进行移动
{
var old = Kit.Angle(_root.Vector.magnitude, vec.magnitude, _mid.Vector.magnitude);
var now = Kit.Angle(_root.Vector.magnitude, target, _mid.Vector.magnitude);
var angle = old - now;
var axis = Vector3.Cross(_root.Vector, _mid.Vector).normalized;
_root.RotateAround(_root.Transform.position, axis, angle);
}
{
var old = Kit.Angle(_root.Vector.magnitude, _mid.Vector.magnitude, vec.magnitude);
var now = Kit.Angle(_root.Vector.magnitude, _mid.Vector.magnitude, target);
var angle = old - now;
var axis = Vector3.Cross(_root.Vector, _mid.Vector).normalized;
_mid.RotateAround(_mid.Transform.position, axis, angle);
}
}
public static void Forward(IFkJoint root, IFkJoint end, float value)
{
var vec = root.Vector + end.Vector;
var target = vec.magnitude + value;
if (target > root.Vector.magnitude + end.Vector.magnitude)
{
return;
}
{
var old = Kit.Angle(root.Vector.magnitude, vec.magnitude, end.Vector.magnitude);
var now = Kit.Angle(root.Vector.magnitude, target, end.Vector.magnitude);
var angle = old - now;
var axis = Vector3.Cross(root.Vector, end.Vector).normalized;
root.RotateAround(root.Transform.position, axis, angle);
}
{
var old = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, vec.magnitude);
var now = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, target);
var angle = old - now;
var axis = Vector3.Cross(root.Vector, end.Vector).normalized;
end.RotateAround(end.Transform.position, axis, angle);
}
}