void RotateTheArm()
{
//test code
Quaternion InheritedRotation = new Quaternion(0, 0, 0, 1);
for (int i = 0; i < ArmsList.Length; i++)
{
ArmInfo ArmData = ArmsList[i];
//set socket positions
if (i == 0)
{
ArmData.SocketPosition = BaseObject.transform.position;
}
else
{
ArmData.SocketPosition = ArmsList[i - 1].ArmEnd.transform.position;
}
//rotate the arm
Quaternion TestRotator = Quaternion.Euler(-1f, 4f, 6f);
InheritedRotation *= TestRotator;
Debug.Log("InheritedRotation of " + ArmData.Arm.name + ": " + InheritedRotation.ToString());
ArmData.Arm.transform.rotation *= InheritedRotation;
//move the arm
ArmData.Arm.transform.position =
ArmData.Arm.transform.position -
ArmData.ArmBase.transform.position +
ArmData.SocketPosition;
}
}
//Try 2
void PointTowards(ArmInfo CurrentArmInfo, GameObject NextBase, GameObject PreviousObject) //A new refined method for PointAt, which uses Euler angles instead to limit degrees of motion
{
//Debug lines
Debug.DrawRay(CurrentArmInfo.Arm.transform.position, CurrentArmInfo.Arm.transform.forward, Color.red, 1);
//Debug.DrawRay(NextBase.transform.position, NextBase.transform.forward, Color.blue, 1);
// Get the aim position for next frame
Vector3 target = CurrentArmInfo.ArmEnd.transform.position;
target += (NextBase.transform.position - target) / 2;
Vector3 PlaneNormal = Vector3.Cross(CurrentArmInfo.Arm.transform.forward, NextBase.transform.forward).normalized;
Debug.DrawRay(CurrentArmInfo.ArmEnd.transform.position, PlaneNormal, Color.green, 1);
float angle = Vector3.Angle(CurrentArmInfo.Arm.transform.forward, PreviousObject.transform.forward);
Quaternion quaternion = Quaternion.FromToRotation(CurrentArmInfo.Arm.transform.forward, PreviousObject.transform.forward);
//Vector3 angleaxis = Quaternion.AngleAxis(angle, PlaneNormal) * CurrentArmInfo.Arm.transform.position;
Vector3 QuaternionAngle = quaternion * CurrentArmInfo.Arm.transform.forward;
float EulerAngle = Quaternion.Angle(quaternion, Quaternion.Inverse(CurrentArmInfo.Arm.transform.rotation));
Debug.Log(string.Format("{0}: {1}. {2}", CurrentArmInfo.Arm.name, angle, EulerAngle));
//Debug.DrawLine(CurrentArmInfo.Arm.transform.position, QuaternionAngle, Color.black, 1);
Debug.DrawRay(CurrentArmInfo.Arm.transform.position, QuaternionAngle, Color.black, 1);
Vector3 newtarget = Quaternion.AngleAxis(0, PlaneNormal) * CurrentArmInfo.Arm.transform.forward;
//Debug.Log(angleaxis.ToString() + ".... and " + target.ToString());
Debug.DrawLine(target, newtarget, Color.white, 1);
if (angle > 90)
{
Debug.Log("Arm " + CurrentArmInfo.Arm.name + " is over 90");
//CurrentArmInfo.Arm.transform.LookAt(newtarget);
}
else
{
CurrentArmInfo.Arm.transform.LookAt(target);
}
//Move to next position
CurrentArmInfo.Arm.transform.position -=
CurrentArmInfo.ArmEnd.transform.position -
NextBase.transform.position;
}
void ForwardRotateArm()
{
for (int i = 0; i < ArmsList.Length; i++)
{
//ArmData value used to shorten code
ArmInfo ArmData = ArmsList[i];
//set socket positions
if (i == 0)
{
ArmData.SocketPosition = BaseObject.transform.position;
}
else
{
ArmData.SocketPosition = ArmsList[i - 1].ArmEnd.transform.position;
}
//move back to sockets without rotation
ArmData.Arm.transform.position =
ArmData.Arm.transform.position -
ArmData.ArmBase.transform.position +
ArmData.SocketPosition;
}
}
private Dictionary <byte, byte> GetPumpIDAddress(ArmInfo armInfo)
{
Dictionary <byte, byte> pumpIDAddress = armInfo.PumpsInfo.ToDictionary(x => x.ID, x => x.Address);
return(pumpIDAddress);
}
//The one that works
void PointAtNew(ArmInfo CurrentArmInfo, GameObject NextBase, GameObject NextArm, GameObject PreviousObject) //RETRY
{
// Get the aim position for next frame
Vector3 target = CurrentArmInfo.ArmEnd.transform.position;
target += (NextBase.transform.position - target) / 2;
//float angle = Vector3.Angle(CurrentArmInfo.Arm.transform.forward, PreviousObject.transform.forward);
//angle = Mathf.Clamp(angle, 0, 90);
float angle2 = Vector3.Angle(NextArm.transform.forward, CurrentArmInfo.Arm.transform.forward);
angle2 = Mathf.Clamp(angle2, 0, 90);
Debug.DrawRay(CurrentArmInfo.Arm.transform.position, CurrentArmInfo.Arm.transform.forward, Color.black, 1);
Debug.Log(string.Format("Angles of {0} is {1}", CurrentArmInfo.Arm.name, angle2));
Vector3 PlaneNormal = Vector3.Cross(CurrentArmInfo.Arm.transform.forward, NextArm.transform.forward).normalized;
Debug.DrawRay(CurrentArmInfo.ArmBase.transform.position, PlaneNormal, Color.green, 1);
//Vector3 NewDirection = Quaternion.AngleAxis(angle, PlaneNormal) * CurrentArmInfo.Arm.transform.forward;
Vector3 NewDirection2 = Quaternion.AngleAxis(angle2, PlaneNormal) * CurrentArmInfo.Arm.transform.forward;
//Debug.DrawRay(CurrentArmInfo.Arm.transform.position, NewDirection, Color.blue, 1);
Debug.DrawRay(CurrentArmInfo.Arm.transform.position, NewDirection2, Color.white, 1);
Debug.DrawLine(CurrentArmInfo.Arm.transform.position, target, Color.cyan, 1);
if (angle2 > 90)
{
Debug.Log("Arm " + CurrentArmInfo.Arm.name + " is over 90");
}
//setup coordinate system
Vector3 YVector = CurrentArmInfo.Arm.transform.forward;
Vector3 ZVector = PlaneNormal;
Vector3 XVector = Vector3.Cross(YVector, ZVector);
Vector3 lookPos = target;
CurrentArmInfo.Arm.transform.LookAt(target);
if (CurrentArmInfo.Arm.GetComponent <ArmRestrictions>().rotateX == false)
{
CurrentArmInfo.Arm.transform.localEulerAngles = new Vector3(
PreviousObject.transform.eulerAngles.x,
CurrentArmInfo.Arm.transform.eulerAngles.y,
CurrentArmInfo.Arm.transform.eulerAngles.z);
}
if (CurrentArmInfo.Arm.GetComponent <ArmRestrictions>().rotateY == false)
{
CurrentArmInfo.Arm.transform.localEulerAngles = new Vector3(
CurrentArmInfo.Arm.transform.eulerAngles.x,
PreviousObject.transform.eulerAngles.y,
CurrentArmInfo.Arm.transform.eulerAngles.z);
}
if (CurrentArmInfo.Arm.GetComponent <ArmRestrictions>().rotateZ == false)
{
CurrentArmInfo.Arm.transform.localEulerAngles = new Vector3(
CurrentArmInfo.Arm.transform.eulerAngles.x,
CurrentArmInfo.Arm.transform.eulerAngles.y,
PreviousObject.transform.eulerAngles.z);
}
var rotationxyz = Quaternion.LookRotation(lookPos);
//CurrentArmInfo.Arm.transform.rotation = rotationxyz;
//var delta = target - CurrentArmInfo.Arm.transform.position;
//var angle = Mathf.Atan2(delta.y, delta.x) * Mathf.Rad2Deg;
//var rotation = Quaternion.Euler(0, angle, 0);
//Move to next position
CurrentArmInfo.Arm.transform.position -=
CurrentArmInfo.ArmEnd.transform.position -
NextBase.transform.position;
}
