//--------------------------------------------------------------------------METHODS:
//--------------------------------------------------------------------------HELPERS:
private void moveArm(AxisSwapper upperArm,
AxisSwapper forearm,
AxisSwapper targetForearm,
Transform targetHand,
bool isRightArm)
{
var targetElbowPos = targetHand.position - targetForearm.Forward * elbowToWristDistance;
Vector3 shoulderToElbow = targetElbowPos - upperArm.transform.position;
Vector3 elbowToTarget = targetHand.position - targetElbowPos;
// Reversed order if ! left
Vector3 up;
if (isRightArm)
{
up = Vector3.Cross(elbowToTarget, shoulderToElbow);
}
else
{
up = Vector3.Cross(shoulderToElbow, elbowToTarget);
}
upperArm.Look(targetElbowPos - upperArm.transform.position, up);
forearm.Look(elbowToTarget, up);
}
//---------------------------------------------------------------------------FIELDS:
//---------------------------------------------------------------------MONO METHODS:
void OnDrawGizmos()
{
if (!enabled)
{
return;
}
if (Swapper == null)
{
Swapper = GetComponent <AxisSwapper>();
}
// Draw X Axis
Gizmos.color = Color.red;
Gizmos.DrawLine(transform.position, Swapper.Right * AXIS_LINE_LENGTH);
// Draw Y Axis
Gizmos.color = Color.green;
Gizmos.DrawLine(transform.position, Swapper.Up * AXIS_LINE_LENGTH);
// Draw Z Axis
Gizmos.color = Color.blue;
Gizmos.DrawLine(transform.position, Swapper.Forward * AXIS_LINE_LENGTH);
}
