Exemplo n.º 1
0
            // Token: 0x06002730 RID: 10032 RVA: 0x000B5A1C File Offset: 0x000B3C1C
            private Quaternion SingleDegree()
            {
                Vector3 target = GenericMath.TransformVector(this.axis, this.joint.transform.localRotation);
                float   num;
                Vector3 rhs;

                GenericMath.QuaternionToAngleAxis(GenericMath.ApplyQuaternion(GenericMath.RotateFromTo(this.axis, target), this.joint.localRotation), out num, out rhs);
                float x    = this.hingLimit.x;
                float y    = this.hingLimit.y;
                float num2 = Vector3.Dot(this.axis, rhs);

                num = GenericMath.Clamp(num * num2, x, y);
                this.joint.localRotation = GenericMath.QuaternionFromAngleAxis(num, this.axis);
                return(this.joint.localRotation);
            }
Exemplo n.º 2
0
            /// <summary>
            /// Limit the motion to 1 Degree of freedom
            /// </summary>
            /// <param name="_localRot"></param>
            /// <returns></returns>
            private Quaternion SingleDegree()
            {
                float   angle;
                Vector3 axis;

                //Hinge only Quaternion
                Vector3    _localAxis = GenericMath.TransformVector(this.axis, joint.transform.localRotation);
                Quaternion _delta     = GenericMath.RotateFromTo(this.axis, _localAxis);
                Quaternion _legalRot  = GenericMath.ApplyQuaternion(_delta, joint.localRotation);

                GenericMath.QuaternionToAngleAxis(_legalRot, out angle, out axis);

                float min = hingLimit.x;
                float max = hingLimit.y;
                float dot = Vector3.Dot(this.axis, axis);

                //clamp values
                //angle = Mathf.Clamp(angle * dot, min, max);   //Unity's Clamp gives NaN values in particular cases so use our own
                angle = GenericMath.Clamp(angle * dot, min, max);

                joint.localRotation = GenericMath.QuaternionFromAngleAxis(angle, this.axis);
                return(joint.localRotation);
            }