// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(KeyCode.Space))
{
for (int i = 0; i < bullets.Count; i++)
{
Destroy(bullets[i]);
}
}
v = Input.mousePosition;
v.z = ZPos;
if (Input.GetKey(KeyCode.W))
{
ZPos += 0.05f;
}
else if (Input.GetKey(KeyCode.S))
{
ZPos -= 0.05f;
}
v = Camera.main.ScreenToWorldPoint(v);
transform.position = v;
if (isdown)
{
count += Time.deltaTime;
}
if (Input.GetMouseButtonDown(0))
{
isdown = true;
firstPos = new MyVec(Input.mousePosition.x, Input.mousePosition.y, Input.mousePosition.z);
//print(firstPos.x);
}
else if (Input.GetMouseButtonUp(0))
{
isdown = false;
//count += Time.deltaTime;
lastPos = new MyVec(Input.mousePosition.x, Input.mousePosition.y, Input.mousePosition.z);
//print(lastPos.x);
MyVec finalPos = (lastPos - firstPos);
finalPos.Normalize();
float vel = finalPos.magnitude / count;
if (GameObject.Find("perdigo") == null)
{
GameObject nou = Instantiate(perdigo, init.position, init.rotation);
vel = -Input.GetAxis("Mouse X") * 10f;
nou.GetComponent <movementrotation>().angularY = vel;
bullets.Add(nou);
}
//print(vel);
}
//MyVec v =new MyVec( Input.mousePosition.x, Input.mousePosition.y, -9.15f);
}
//Static Methods
public static MyQuat AngleAxis(float angle, ref MyVec axis)
{
if (axis.sqrMagnitude == 0.0f)
{
return(identity);
}
MyQuat result = new MyQuat(0, 0, 0, 1);
float radians = angle * Mathf.Deg2Rad;
radians *= 0.5f;
axis.Normalize();
axis = axis * Mathf.Sin(radians);
result.x = axis.x;
result.y = axis.y;
result.z = axis.z;
result.w = Mathf.Cos(radians);
return(Normalize(result));
}
void Update()
{
// Copy the joints positions to work with
for (int i = 0; i < joints.Length; i++)
{
copy[i] = new MyVec(joints[i].position.x, joints[i].position.y, joints[i].position.z); //Copy the joints
if (i < joints.Length - 1)
{
distances[i] = MyVec.Distance(joints[i + 1].position, joints[i].position); //Calculate the distances
}
}
done = (copy[copy.Length - 1] - new MyVec(target.position.x, target.position.y, target.position.z)).magnitude < treshold_condition;
if (!done)
{
float targetRootDist = MyVec.Distance(copy[0], new MyVec(target.position.x, target.position.y, target.position.z));
// Update joint positions
if (targetRootDist > distances.Sum())
{
// The target is unreachable
for (int i = 0; i < copy.Length - 1; i++)
{
float r = (new MyVec(target.position.x, target.position.y, target.position.z) - copy[i]).magnitude;
float lambda = distances[i] / r;
copy[i + 1] = copy[i] * (1 - lambda) + new MyVec(target.position.x, target.position.y, target.position.z) * lambda;
}
}
else
{
MyVec b = copy[0];
float difA = (copy[copy.Length - 1] - new MyVec(target.position.x, target.position.y, target.position.z)).magnitude;
// The target is reachable
while (difA > treshold_condition)
{
// STAGE 1: FORWARD REACHING
copy[copy.Length - 1] = new MyVec(target.position.x, target.position.y, target.position.z);
for (int i = copy.Length - 2; i > 0; i--)
{
float r = (copy[i + 1] - copy[i]).magnitude;
float lambda = distances[i] / r;
copy[i] = copy[i + 1] * (1 - lambda) + copy[i] * lambda;
}
// STAGE 2: BACKWARD REACHING
copy[0] = b;
for (int i = 0; i < copy.Length - 1; i++)
{
float r = (copy[i + 1] - copy[i]).magnitude;
float lambda = distances[i] / r;
copy[i + 1] = copy[i] * (1 - lambda) + copy[i + 1] * lambda;
}
difA = (copy[copy.Length - 1] - new MyVec(target.position.x, target.position.y, target.position.z)).magnitude;
}
}
// Update original joint rotations
for (int i = 0; i < joints.Length - 1; i++)
{
//TODO
MyVec A = new MyVec(joints[i + 1].position - joints[i].position);
MyVec B = copy[i + 1] - copy[i];
float cosa = MyVec.Dot(MyVec.Normalize(A), MyVec.Normalize(B));
float sina = MyVec.Cross(MyVec.Normalize(A), MyVec.Normalize(B)).magnitude;
float alpha = Mathf.Atan2(sina, cosa) * Mathf.Rad2Deg;
MyVec myAxis = MyVec.Normalize(MyVec.Cross(A, B));
//Vector3 axis = new Vector3(myAxis.x, myAxis.y, myAxis.z);
MyQuat myQuat = MyQuat.AngleAxis(alpha, ref myAxis);
Quaternion quat = new Quaternion(myQuat.x, myQuat.y, myQuat.z, myQuat.w);
joints[i].rotation = quat * joints[i].rotation;
//joints[i].rotation = Quaternion.AngleAxis(alpha, axis) * joints[i].rotation;
joints[i + 1].position = new Vector3(copy[i + 1].x, copy[i + 1].y, copy[i + 1].z);
if (i == 2)
{
// print(joints[i].rotation.z);
}
if ((joints[i].rotation.z > 0.5f || joints[i].rotation.z < -0.5f) && i > 0)
{
joints[i].rotation = joints[i - 1].rotation;
//joints[i].rotation = new Quaternion(joints[i].rotation.x, joints[i].rotation.y, , joints[i - 1].rotation.w);
}
}
}
}