public static void Normals(IFkJoint root, IFkJoint end, float angle) { var vec = root.Vector + end.Vector; var tan = Vector3.Project(root.Vector, vec); var nor = root.Vector - tan; root.RotateAround(root.Transform.position, nor, angle); }
public static void MoveTo(IFkJoint root, IFkJoint end, Vector3 pos) { var vec = root.Vector + end.Vector; var target = pos - root.Transform.position; var max = root.Vector.magnitude + end.Vector.magnitude; if (max < target.magnitude) { return; } var angle = Vector3.Angle(vec, target); var axis = Vector3.Cross(vec, target).normalized; root.RotateAround(root.Transform.position, axis, angle); Forward(root, end, target.magnitude - vec.magnitude); }
public static void Forward(IFkJoint root, IFkJoint end, float value) { var vec = root.Vector + end.Vector; var target = vec.magnitude + value; if (target > root.Vector.magnitude + end.Vector.magnitude) { return; } { var old = Kit.Angle(root.Vector.magnitude, vec.magnitude, end.Vector.magnitude); var now = Kit.Angle(root.Vector.magnitude, target, end.Vector.magnitude); var angle = old - now; var axis = Vector3.Cross(root.Vector, end.Vector).normalized; root.RotateAround(root.Transform.position, axis, angle); } { var old = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, vec.magnitude); var now = Kit.Angle(root.Vector.magnitude, end.Vector.magnitude, target); var angle = old - now; var axis = Vector3.Cross(root.Vector, end.Vector).normalized; end.RotateAround(end.Transform.position, axis, angle); } }
public FkLimbRotater(IFkJoint root, IFkJoint mid, IFkJoint end) { _root = root; _mid = mid; _end = end; }
public static void Tangent(IFkJoint root, IFkJoint end, float angle) { var axis = Vector3.Cross(root.Vector, end.Vector); root.RotateAround(root.Transform.position, axis, angle); }
public static void Revolution(IFkJoint root, IFkJoint end, float angle) { var vec = root.Vector + end.Vector; root.RotateAround(root.Transform.position, vec, angle); }