public static void RotateTowards(Vector3 origin, Quaternion from, Quaternion to,
BaseVectorDirection builtinDirection = default(BaseVectorDirection), float lenght = lenght6, bool showVectorLabel = !default(bool))
{
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
Slerp(origin, from, to, builtinDirection, lenght, direction, showVectorLabel, "from", "to");
}
public static void AngleAxis(Vector3 origin, float angle, Vector3 axis, Quaternion startRotation,
BaseVectorDirection builtinDirection = default(BaseVectorDirection), float halfAxisLenght = 3, bool showVectorLabel = !default(bool))
{
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
AngleAxisRaw(origin, angle, axis, startRotation, builtinDirection, halfAxisLenght, direction, showVectorLabel);
}
public static void Slerp(Vector3 origin, Quaternion startRotation, Quaternion endRotation,
BaseVectorDirection builtinDirection = default(BaseVectorDirection),
float lenght = lenght6, bool showVectorLabel = !default(bool))
{
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
InterpolateQuaternions(Quaternion.Slerp, origin, startRotation, endRotation, builtinDirection, lenght, direction, showVectorLabel);
}
public static void SlerpUnclamped(Vector3 origin, Quaternion startRotation, Quaternion endRotation,
float howFuther, BaseVectorDirection builtinDirection = default(BaseVectorDirection),
float lenght = lenght6, bool showVectorLabel = !default(bool))
{
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
SlerpUnclampedRaw(origin, startRotation, endRotation, howFuther, builtinDirection, lenght, direction, showVectorLabel);
}
public static void Angle(Vector3 origin, Quaternion startRotation, Quaternion endRotation,
BaseVectorDirection builtinDirection = default(BaseVectorDirection), float lenght = lenght6, bool showVectorLabel = !default(bool))
{
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
InterpolateQuaternions(Quaternion.Slerp, origin, startRotation, endRotation, builtinDirection, lenght, direction, showVectorLabel);
GizmosForVector.ShowLabel(origin, "angle: " + System.Math.Round(Quaternion.Angle(startRotation, endRotation), 0) + "\xB0", new Color32(127, 0, 255, 255));
}
public static void ToAngleAxis(Vector3 origin, Quaternion rotation,
BaseVectorDirection builtinDirection = default(BaseVectorDirection), float halfAxisLenght = 3, bool showVectorLabel = !default(bool))
{
float angle;
Vector3 axis;
rotation.ToAngleAxis(out angle, out axis);
Vector3 direction = ColorsAndDirections.GetBaseDirection(builtinDirection);
Quaternion startRotation = Quaternion.FromToRotation(Vector3.right, direction);
AngleAxisRaw(origin, angle, axis, startRotation, builtinDirection, halfAxisLenght, Vector3.right, showVectorLabel);
}
public static void SlerpUnclampedRaw(Vector3 origin, Quaternion startRotation, Quaternion endRotation,
float howFuther, BaseVectorDirection builtinDirection = default(BaseVectorDirection),
float lenght = lenght6, Vector3 direction = default(Vector3), bool showVectorLabel = !default(bool))
{
float angle;
Vector3 axis;
// Quaternion sub = startRotation.Substraction (endRotation);
Quaternion sub = startRotation * Quaternion.Inverse(endRotation);
sub.ToAngleAxis(out angle, out axis);
float halfAxisLenght = lenght * 0.5f;
Gizmos.DrawRay(origin - axis.normalized * halfAxisLenght, axis.normalized * halfAxisLenght * 2);
//Vector3 direction = ColorsAndDirections.GetBaseDirection (builtinDirection);
// directionn = (directionn == Vector3.zero) ? Vector3.right : directionn.normalized;///w bok
direction = (direction == Vector3.zero) ? Vector3.right : direction.normalized;
Color startColor = ColorsAndDirections.GetColors(builtinDirection) [0];
Color endColor = ColorsAndDirections.GetColors(builtinDirection) [1];
DrawQuaternion(origin, startRotation, startColor, lenght, direction, showVectorLabel, "start");
DrawQuaternion(origin, endRotation, endColor, lenght, direction, showVectorLabel, "end");
Color finishColor = (builtinDirection == customVectorDirection) ? (Color) new Color32(0, 174, 219, 255) : ColorsAndDirections.GetColors((BaseVectorDirection)7) [1];
DrawQuaternion(origin, Quaternion.SlerpUnclamped(startRotation, endRotation, howFuther), finishColor, lenght, direction, showVectorLabel, "howFuther: " + howFuther + "\nfinal Position: ");
Quaternion pendicularQ0 = Quaternion.AngleAxis(0, axis);
Quaternion pendicularQ90 = Quaternion.AngleAxis(90, axis);
pendicularQ0 *= startRotation;
pendicularQ90 *= startRotation;
int iterations = 200;
List <Quaternion> points = new List <Quaternion> (iterations);
List <Color> colors = new List <Color> (iterations);
for (int i = 0; i < iterations; i++)
{
float t = i * 4 / (float)iterations;
points.Add(Quaternion.SlerpUnclamped(pendicularQ0, pendicularQ90, t));
colors.Add(Color.Lerp(startColor, endColor, t * 0.25f));
}
for (int i = 0; i < iterations - 1; i++)
{
if (i % 2 == 0)
{
Gizmos.color = colors [i];
Gizmos.DrawLine(points [i] * direction * lenght + origin, points [i + 1] * direction * lenght + origin);
}
}
}
static void InterpolateQuaternions(System.Func <Quaternion, Quaternion, float, Quaternion> func, Vector3 origin, Quaternion startRotation, Quaternion endRotation,
BaseVectorDirection builtinDirection = default(BaseVectorDirection),
float lenght = lenght6, Vector3 direction = default(Vector3), bool showVectorLabel = default(bool), string name1 = "", string name2 = "")
{
Color temp = Gizmos.color;
int iterations = 100;
direction = (direction == Vector3.zero) ? Vector3.right : direction.normalized;
Color startColor = ColorsAndDirections.GetColors(builtinDirection) [0];
Color endColor = ColorsAndDirections.GetColors(builtinDirection) [1];
DrawQuaternion(origin, startRotation, startColor, lenght, direction, showVectorLabel, name1);
DrawQuaternion(origin, endRotation, endColor, lenght, direction, showVectorLabel, name2);
DrawDotsConnectingQuaternions(func, origin, startRotation, endRotation, lenght, direction, iterations, startColor, endColor);
Gizmos.color = temp;
;
}
internal static Color[] GetColors(BaseVectorDirection direction)
{
Color[] c = new Color[2];
switch (direction)
{
case BaseVectorDirection.right:
c [0] = new Color32(240, 1, 1, 255);
c [1] = new Color32(255, 128, 0, 255);
break;
case BaseVectorDirection.up:
c [0] = new Color32(0, 199, 29, 255);
c [1] = new Color32(255, 128, 0, 255);
break;
case BaseVectorDirection.forward:
c [0] = new Color32(30, 44, 255, 255);
c [1] = new Color32(255, 128, 0, 255);
break;
case (BaseVectorDirection)5:
c [0] = new Color32(240, 1, 1, 255);
c [1] = new Color32(30, 44, 255, 255);
break;
case (BaseVectorDirection)6:
c [0] = new Color32(240, 1, 1, 255);
c [1] = new Color32(0, 199, 29, 255);
break;
case (BaseVectorDirection)7:
c [0] = new Color32(240, 1, 1, 255);
c [1] = new Color32(127, 0, 255, 255);
break;
default:
c [0] = new Color32(127, 0, 255, 255);
c [1] = new Color32(255, 128, 0, 255);
break;
}
return(c);
}
internal static Vector3 GetBaseDirection(BaseVectorDirection direction)
{
Vector3 v = new Vector3();
switch (direction)
{
case BaseVectorDirection.right:
v = Vector3.right;
break;
case BaseVectorDirection.up:
v = Vector3.up;
break;
case BaseVectorDirection.forward:
v = Vector3.forward;
break;
}
return(v);
}
static void InterpolateQuaternionsForLerp(System.Func <Quaternion, Quaternion, float, Quaternion> func, Vector3 origin, Quaternion startRotation, Quaternion endRotation, float t,
BaseVectorDirection builtinDirection = default(BaseVectorDirection),
float lenght = lenght6, Vector3 direction = default(Vector3), bool showVectorLabel = default(bool), string name1 = "", string name2 = "")
{
Color temp = Gizmos.color;
int iterations = 100;
direction = (direction == Vector3.zero) ? Vector3.right : direction.normalized;
Color startColor = ColorsAndDirections.GetColors(builtinDirection)[0];
Color endColor = ColorsAndDirections.GetColors(builtinDirection)[1];
Quaternion middleRotation = func(startRotation, endRotation, t);
DrawQuaternion(origin, startRotation, startColor, lenght, direction, false, "a:");
DrawQuaternion(origin, middleRotation, Color.magenta, lenght, direction, false, "Interpolated for t = " + System.Math.Round(t, 2) + " :");
DrawQuaternion(origin, endRotation, endColor, lenght, direction, false, "b:");
DrawDotsConnectingQuaternions(func, origin, startRotation, middleRotation, lenght, direction, iterations, Color.magenta, Color.magenta);
DrawDotsConnectingQuaternions(func, origin, middleRotation, endRotation, lenght, direction, iterations, startColor, endColor);
Gizmos.color = temp;
;
}
static void VisualizeRotateTowardsRaw(Vector3 origin, Vector3 current, Vector3 target,
BaseVectorDirection builtinDirection = default(BaseVectorDirection), float lenght = 6,
Vector3 direction = default(Vector3), bool showPlane = default(bool))
{
Color temp = Gizmos.color;
direction = (direction == Vector3.zero) ? Vector3.right : direction.normalized;
Color startColor = ColorsAndDirections.GetColors((BaseVectorDirection)4) [0];
Color endColor = ColorsAndDirections.GetColors((BaseVectorDirection)4) [1];
int iterations = 100;
List <Vector3> points = new List <Vector3> (iterations);
List <Color> colors = new List <Color> (iterations);
for (int i = 0; i < iterations; i++)
{
float t = i / (float)iterations;
points.Add(Vector3.Slerp(current.normalized * lenght, target.normalized * lenght, t));
colors.Add(Color.Lerp(startColor, endColor, t));
}
for (int i = 0; i < iterations - 1; i++)
{
if (i % 2 == 0)
{
Gizmos.color = colors [i];
Gizmos.DrawLine(points [i] + origin, points [i + 1] + origin);
}
}
if (showPlane)
{
Vector3 normal = Vector3.Cross(current, target);
if (normal.magnitude > 0f)
{
DrawPlane(origin, normal, lenght);
}
}
DrawVector(origin, current, lenght, startColor);
DrawVector(origin, target, lenght, endColor);
}
static void AngleAxisRaw(Vector3 origin, float angle, Vector3 axis, Quaternion startRotation, BaseVectorDirection builtinDirection, float halfAxisLenght, Vector3 direction, bool showVectorLabel = !default(bool))
{
Color temp = Gizmos.color;
direction.Normalize();
Gizmos.color = new Color32(162, 0, 255, 255);
Gizmos.DrawRay(origin - axis.normalized * halfAxisLenght, axis.normalized * halfAxisLenght * 2);
GizmosForVector.DrawVector(origin - axis.normalized * halfAxisLenght,
axis.normalized, halfAxisLenght * 2, Gizmos.color);
Quaternion endRotation = Quaternion.AngleAxis(angle, axis);
endRotation = endRotation * startRotation;
Slerp(origin, startRotation, endRotation, builtinDirection, halfAxisLenght, direction, showVectorLabel);
Quaternion middle = Quaternion.Slerp(startRotation, endRotation, 0.5f);
// DrawQuaternion (origin, middle, Color.yellow, 6, direction);////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
GizmosForVector.ShowLabel(origin + middle * direction * halfAxisLenght, //* startRotation
// System.Math.Round (Quaternion.Angle (startRotation, endRotation), 0) + "\xB0", Color.magenta);
System.Math.Round((startRotation * Quaternion.Inverse(endRotation)).SignedAngle()) + "\xB0", Color.magenta);
//first * Quaternion.Inverse (second)
Gizmos.color = temp;
}
static void Slerp(Vector3 origin, Quaternion startRotation, Quaternion endRotation,
BaseVectorDirection builtinDirection,
float lenght, Vector3 customDirection, bool showVectorLabel = !default(bool), string name1 = "", string name2 = "")
{
InterpolateQuaternions(Quaternion.Slerp, origin, startRotation, endRotation, builtinDirection, lenght, customDirection, showVectorLabel, name1, name2);
}
