public Quaternion Rotate(Vector3 euler)
{
var n = new Coordinate(this);
Quaternion result = origin;
Quaternion rot;
switch (order)
{
case EulerOrder.XYZ:
Debug.LogError("undefined order");
break;
case EulerOrder.XZY:
Debug.LogError("undefined order");
break;
case EulerOrder.YXZ:
// 动态坐标轴 y x z
rot = Quaternion.AngleAxis(euler.y, n.up);
result = rot * result; n *= rot;
rot = Quaternion.AngleAxis(euler.x, n.right);
result = rot * result; n *= rot;
rot = Quaternion.AngleAxis(euler.z, n.forward);
result = rot * result;
break;
case EulerOrder.YZX:
Debug.LogError("undefined order");
break;
case EulerOrder.ZXY:
// 动态坐标轴 z x y
rot = Quaternion.AngleAxis(euler.z, n.forward);
result = rot * result; n *= rot;
rot = Quaternion.AngleAxis(euler.x, n.right);
result = rot * result; n *= rot;
rot = Quaternion.AngleAxis(euler.y, n.up);
result = rot * result;
break;
case EulerOrder.ZYX:
Debug.LogError("undefined order");
break;
default:
Debug.LogError("undefined order");
break;
}
if (MathTool.IsNaN(result))
{
Debug.LogError("Nan");
}
return(result);
}
public void Rotate()
{
if (MathTool.IsNaN(euler))
{
Debug.LogError("Nan");
}
euler = DOFLiminator.LimitDOF(euler, dof);
if (MathTool.IsNaN(euler))
{
Debug.LogError("Nan"); // 用于断点
}
var rot = coord.Rotate(euler);
if (MathTool.IsNaN(rot))
{
Debug.LogError("Nan");
}
transform.localRotation = rot;
}