Vector3 contactDirection(TelescopeShell shell, bool reversed)
{
if (!reversed)
{
return(shell.transform.forward);
}
else
{
Vector3 dirLocal = shell.getLocalRotationAlongPath(1) * Vector3.forward;
Vector3 dir = shell.transform.rotation * dirLocal;
dir *= -1;
return(dir);
}
}
public void SetTransform()
{
float extendT = Mathf.Clamp01(extensionRatio * 2);
if (AlwaysExtend)
{
extendT = 1;
}
float twistT = Mathf.Clamp01(extensionRatio * 2 - 1);
if (!Reversed)
{
Vector3 localTranslation = getLocalLocationAlongPath(extendT);
Quaternion localRotation = getLocalRotationAlongPath(extendT);
// Add twist angle.
Vector3 forwardAxis = localRotation * baseRotation * Vector3.forward;
Quaternion roll = Quaternion.AngleAxis(-twistAngle * twistT, forwardAxis);
localRotation = roll * localRotation;
// Set the shell's local translation from parent based on how extended it is.
transform.localPosition = baseRotation * localTranslation + baseTranslation;
transform.localRotation = baseRotation * localRotation;
}
else
{
TelescopeShell parent = transform.parent.GetComponent <TelescopeShell>();
if (!parent)
{
return;
}
Vector3 localTranslation = parent.getInvLocationAlongPath(extendT);
Quaternion localRotation = parent.getLocalRotationAlongPath(extendT);
Vector3 forwardPosition = Quaternion.Inverse(baseRotation) * localTranslation - parent.baseTranslation;
Quaternion forwardRotation = Quaternion.Inverse(parent.baseRotation) * Quaternion.Inverse(localRotation);
// Set the shell's local translation from parent based on how extended it is.
transform.localRotation = forwardRotation;
transform.localPosition = forwardPosition;
// Now we need to rotate by the twist angle, with the pivot being the parent's angle.
Vector3 parentWorld = parent.transform.position;
Vector3 axis = parent.transform.forward;
transform.RotateAround(parentWorld, axis, parent.twistAngle * twistT);
}
}
public Vector3 LocalContactTangent()
{
TelescopeShell firstShell = shells[0];
if (!Reversed)
{
Quaternion local = firstShell.transform.localRotation;
return(local * Vector3.forward);
}
else
{
Quaternion baseQ = firstShell.transform.localRotation;
Quaternion pathQ = firstShell.getLocalRotationAlongPath(1);
Quaternion local = baseQ * pathQ;
return(-(local * Vector3.forward));
}
}
/*
* public Vector3 WorldEndPosition()
* {
* TelescopingShell lastShell = shells[shells.Count - 1];
* }*/
public Vector3 WorldEndTangent()
{
TelescopeShell lastShell = shells[shells.Count - 1];
if (!Reversed)
{
Quaternion baseQ = lastShell.transform.rotation;
Quaternion local = lastShell.getLocalRotationAlongPath(1);
Quaternion combined = baseQ * local;
Vector3 worldForward = combined * Vector3.forward;
return(-worldForward);
}
else
{
Quaternion local = lastShell.transform.rotation;
return(local * Vector3.forward);
}
}
