//TODO solve IK and tick normal in different methods
public override void tick(float dt)
{
Vector3 targetLocal = targetAbs.v - basisAbs.v;
float pole = -targetLocal.normalized.scalarProduct(axisAbs);
float mul = MyMath.mix(rotSpeedAtEquator, rotSpeedAtPole, pole) * dt;
Vector3 n = axisAbs;
if (Application.isPlaying) //for battle mech 2 TODO place elbow at custom position
{
if (poleAxisStrength > 0)
{
n = n + secondaryAxisAbs.mul(pole * poleAxisStrength);
}
}
resultAbs.v = lastResult.mix(targetLocal.crossProduct(n).normalized(), MyMath.min(mul, 1)).normalized;
lastResult = resultAbs.v;
}
public static Vector3 clamp(Vector3 value, float min, float max)
{
return(new Vector3(MyMath.max(min, MyMath.min(value.x, max)), MyMath.max(min, MyMath.min(value.y, max)), MyMath.max(min, MyMath.min(value.z, max))));
}
public static float clamp(float value, float min, float max)
{
return(MyMath.max(min, MyMath.min(value, max)));
}
public static Vector2 clamp(Vector2 value, Vector2 min, Vector2 max)
{
return(new Vector2(MyMath.max(min.x, MyMath.min(value.x, max.x)), MyMath.max(min.y, MyMath.min(value.y, max.y))));
}
public static Vector3 pow(this Vector3 a, float x, float y, float z)
{
return(new Vector3(MyMath.pow(a.x, x), MyMath.pow(a.y, y), MyMath.pow(a.z, z)));
}
