/// <summary>
/// Sets the limit points and recalculates the reach cones.
/// </summary>
/// <param name='_points'>
/// _points.
/// </param>
public void SetLimitPoints(LimitPoint[] points) {
if (points.Length < 3) {
LogWarning("The polygon must have at least 3 Limit Points.");
return;
}
this.points = points;
BuildReachCones();
}
/*
* Apply the default initial setup of 4 Limit Points
* */
public void ResetToDefault()
{
points = new LimitPoint[4];
for (int i = 0; i < points.Length; i++)
{
points[i] = new LimitPoint();
}
Quaternion swing1Rotation = Quaternion.AngleAxis(45, Vector3.right);
Quaternion swing2Rotation = Quaternion.AngleAxis(45, Vector3.up);
points[0].point = (swing1Rotation * swing2Rotation) * axis;
points[1].point = (Quaternion.Inverse(swing1Rotation) * swing2Rotation) * axis;
points[2].point = (Quaternion.Inverse(swing1Rotation) * Quaternion.Inverse(swing2Rotation)) * axis;
points[3].point = (swing1Rotation * Quaternion.Inverse(swing2Rotation)) * axis;
BuildReachCones();
}
/*
* Apply the default initial setup of 4 Limit Points
* */
public void ResetToDefault() {
points = new LimitPoint[4];
for (int i = 0; i < points.Length; i++) points[i] = new LimitPoint();
Quaternion swing1Rotation = Quaternion.AngleAxis(45, Vector3.right);
Quaternion swing2Rotation = Quaternion.AngleAxis(45, Vector3.up);
points[0].point = (swing1Rotation * swing2Rotation) * axis;
points[1].point = (Quaternion.Inverse(swing1Rotation) * swing2Rotation) * axis;
points[2].point = (Quaternion.Inverse(swing1Rotation) * Quaternion.Inverse(swing2Rotation)) * axis;
points[3].point = (swing1Rotation * Quaternion.Inverse(swing2Rotation)) * axis;
BuildReachCones();
}
