/// <summary>
/// Checks the angle restrictions.
/// </summary>
/// <param name="jointEntity">Joint entity</param>
void CheckAngleRestrictions(JointEntity jointEntity)
{
Vector3 euler = jointEntity.Joint.localRotation.eulerAngles;
if (jointEntity.AngleRestrictionRange.xAxis)
{
if (euler.x > 180f)
{
euler.x -= 360f;
}
euler.x = Mathf.Clamp(euler.x, jointEntity.AngleRestrictionRange.xMin, jointEntity.AngleRestrictionRange.xMax);
}
if (jointEntity.AngleRestrictionRange.yAxis)
{
if (euler.y > 180f)
{
euler.y -= 360f;
}
euler.y = Mathf.Clamp(euler.y, jointEntity.AngleRestrictionRange.yMin, jointEntity.AngleRestrictionRange.yMax);
}
if (jointEntity.AngleRestrictionRange.zAxis)
{
if (euler.z > 180f)
{
euler.z -= 360f;
}
euler.z = Mathf.Clamp(euler.z, jointEntity.AngleRestrictionRange.zMin, jointEntity.AngleRestrictionRange.zMax);
}
jointEntity.Joint.localEulerAngles = euler;
}
/// <summary>
/// Checks the angle restrictions.
/// </summary>
/// <param name="jointEntity">Joint entity</param>
void CheckAngleRestrictions(JointEntity jointEntity)
{
Vector3 euler = normalizeEuler(jointEntity.Joint.localRotation.eulerAngles);
Vector3 newEuler = Vector3.zero;
JointActiveAngle jointActiveAngle = jointEntity.activeJointAngle;
if (jointEntity.enabled)
{
if (jointActiveAngle == JointActiveAngle.X)
{
newEuler.x = Mathf.Clamp(euler.x, jointEntity.angleMin, jointEntity.angleMax);
}
if (jointActiveAngle == JointActiveAngle.Y)
{
newEuler.y = Mathf.Clamp(euler.y, jointEntity.angleMin, jointEntity.angleMax);
}
if (jointActiveAngle == JointActiveAngle.Z)
{
newEuler.z = Mathf.Clamp(euler.z, jointEntity.angleMin, jointEntity.angleMax);
}
}
jointEntity.Joint.localEulerAngles = newEuler;
}
void ShowInfo()
{
for (int i = 0; i < JointEntities.Length - 1; i++)
{
JointEntity joint = JointEntities[i];
int jointAngle = Mathf.RoundToInt(WrapAngle(getActiveAngle(joint)));
Lebug.Log(joint.Joint.name, jointAngle + ":" + joint.servoAngle, "IKServo");
}
}
/// <summary>
/// Checks the angle restrictions.
/// </summary>
/// <param name="jointEntity">Joint entity</param>
void CheckAngleRestrictions (JointEntity jointEntity)
{
Vector3 euler = jointEntity.Joint.localRotation.eulerAngles;
if(jointEntity.AngleRestrictionRange.xAxis) {
if(euler.x > 180f)
euler.x -= 360f;
euler.x = Mathf.Clamp(euler.x, jointEntity.AngleRestrictionRange.xMin, jointEntity.AngleRestrictionRange.xMax);
}
if(jointEntity.AngleRestrictionRange.yAxis) {
if(euler.y > 180f)
euler.y -= 360f;
euler.y = Mathf.Clamp(euler.y, jointEntity.AngleRestrictionRange.yMin, jointEntity.AngleRestrictionRange.yMax);
}
if(jointEntity.AngleRestrictionRange.zAxis) {
if(euler.z > 180f)
euler.z -= 360f;
euler.z = Mathf.Clamp(euler.z, jointEntity.AngleRestrictionRange.zMin, jointEntity.AngleRestrictionRange.zMax);
}
jointEntity.Joint.localEulerAngles = euler;
}
