private TrigSolution createTrigSolution()
{
TrigSolution t_trigSolution = new TrigSolution();
float t_lengthMiddlePoint = m_upperLength / (m_upperLength + m_lowerLength);
float t_lengthOfAdjacent = FindLinearEndpoint().magnitude *t_lengthMiddlePoint;
Vector3 t_verticalMarkerLocation = FindLinearEndpoint() * t_lengthOfAdjacent;
t_trigSolution.m_verticalMarkerLocation = t_verticalMarkerLocation;
float t_opposite = Mathf.Sqrt(Mathf.Pow(m_upperLength, 2) - Mathf.Pow(t_lengthOfAdjacent, 2));
t_trigSolution.m_markerHeight = t_opposite;
Vector3 t_rotationUpVector = Quaternion.LookRotation(FindLinearEndpoint(), -Vector3.up) * Vector3.up;
Quaternion t_verticalMarkerRotation = Quaternion.LookRotation(t_rotationUpVector);
t_trigSolution.m_verticalMarkerRotation = t_verticalMarkerRotation;
//Important!
Vector3 t_segmentJointPosition = t_verticalMarkerLocation + (t_rotationUpVector * t_opposite);
t_trigSolution.m_segmentJointPosition = t_segmentJointPosition;
return(t_trigSolution);
}
// Update is called once per frame
void Update()
{
FirstLookAtSecondPoint();
FirstArmScale();
TrigSolution t_trigSolution = createTrigSolution();
m_verticalMarkerParent.transform.localPosition = m_IKOrigin.transform.position + t_trigSolution.m_verticalMarkerLocation;
m_verticalMarkerParent.transform.localRotation = t_trigSolution.m_verticalMarkerRotation;
m_joint.transform.localPosition = m_IKOrigin.transform.position + t_trigSolution.m_segmentJointPosition;
ArrowLength = t_trigSolution.m_markerHeight;
m_verticalMarkerParent.transform.localScale = new Vector3(1, 1, ArrowLength);
}