/// <summary> /// Gets the vector from self to end-effector /// </summary> /// <returns>local assemblage.</returns> /// <param name="ee">Ee. An end-effector</param> private Vector3 GetLocalAssemblage(ref ScriptNode ee) { return(ee.GetTerminus() - transform.position); }
/// <summary> /// Computes vector from self's terminus, to target /// </summary> /// <param name="ee">Ee. An end-effector. A terminal node in a sequence of limbs</param> /// <param name="target">Target. An object in space</param> public void CorrectError(ref ScriptNode ee, ref GameObject target) { Vector3 error = target.transform.position - ee.GetTerminus(); ApplyDeltaLook(ref ee, error); }