/// <summary>
/// Checks the angle restrictions.
/// </summary>
/// <param name="jointEntity">Joint entity</param>
void CheckAngleRestrictions(JointEntity jointEntity)
{
Vector3 euler = normalizeEuler(jointEntity.Joint.localRotation.eulerAngles);
Vector3 newEuler = Vector3.zero;
JointActiveAngle jointActiveAngle = jointEntity.activeJointAngle;
if (jointEntity.enabled)
{
if (jointActiveAngle == JointActiveAngle.X)
{
newEuler.x = Mathf.Clamp(euler.x, jointEntity.angleMin, jointEntity.angleMax);
}
if (jointActiveAngle == JointActiveAngle.Y)
{
newEuler.y = Mathf.Clamp(euler.y, jointEntity.angleMin, jointEntity.angleMax);
}
if (jointActiveAngle == JointActiveAngle.Z)
{
newEuler.z = Mathf.Clamp(euler.z, jointEntity.angleMin, jointEntity.angleMax);
}
}
jointEntity.Joint.localEulerAngles = newEuler;
}
public static float getActiveAngle(IKSolverServo.JointEntity jointEntity)
{
Vector3 euler = jointEntity.Joint.localEulerAngles;
JointActiveAngle jointActiveAngle = jointEntity.activeJointAngle;
if (jointActiveAngle == JointActiveAngle.X)
{
return(euler.x);
}
else if (jointActiveAngle == JointActiveAngle.Y)
{
return(euler.y);
}
return(euler.z);
}
