/// <summary>
/// Transfer half the rotation from a parent transform to a roll joint.
/// The rotation is transferred only along the rotation axis of the roll joint
/// </summary>
/// <param name="rollJointWrapper">Roll joint information</param>
private void rollRotation(RollJointWrapper rollJointWrapper)
{
Transform parent = rollJointWrapper.m_transform.parent;
// get the current twist direction
Vector3 twistDir = (Quaternion.Inverse(parent.localRotation) * rollJointWrapper.m_inverseOriginalParentRotation) * rollJointWrapper.m_localTwistDir;
// get the swing direction
Quaternion dirRotation = Quaternion.FromToRotation(twistDir, rollJointWrapper.m_localTwistDir);
// the twist rotation is the full rotation minus the swing rotation
Quaternion twistQuat = rollJointWrapper.m_originalParentRotation * parent.localRotation * Quaternion.Inverse(dirRotation);
// get the twist angle
float angle;
Vector3 rotation_axis;
twistQuat.ToAngleAxis(out angle, out rotation_axis);
if (!Mathf.Approximately(angle, 0) && !Mathf.Approximately(angle, 360))
{
// apply half the angle to the parent and half to the roll joint
float halfAngle = 0;
if (angle > 180)
{
halfAngle = (angle + 360) / 2;
}
else
{
halfAngle = angle / 2;
}
twistQuat = Quaternion.AngleAxis(halfAngle, rotation_axis);
parent.localRotation = Quaternion.Slerp(parent.localRotation, parent.localRotation * Quaternion.Inverse(twistQuat), m_weight);
rollJointWrapper.m_transform.localRotation = Quaternion.Slerp(rollJointWrapper.m_transform.localRotation, twistQuat * rollJointWrapper.m_originalRotation, m_weight);
}
}
// initialize a roll joint data for the given joint as parent
private void JoinRollJoint(string rollJointName, Omek.JointID parentJointID)
{
TransformWrapper tw = m_hierarchyList.Find((a) => { return(a.m_jointID == parentJointID); });
RollJointWrapper rjw = m_rollJointsList.Find((a) => { return(a.m_name == rollJointName); });
tw.m_rollJoint = rjw;
rjw.m_parentWrapper = tw;
if (tw.m_transform != null)
{
rjw.m_originalParentRotation = tw.m_transform.localRotation;
rjw.m_inverseOriginalParentRotation = Quaternion.Inverse(rjw.m_originalParentRotation);
}
}
private void SetJointActiveForChildren(Transform trans, bool isActive)
{
TransformWrapper tw = m_hierarchyList.Find((a) => { return(a.m_transform == trans); });
if (tw != null)
{
tw.m_active = isActive;
}
RollJointWrapper rjw = m_rollJointsList.Find((a) => { return(a.m_transform == trans); });
if (rjw != null)
{
rjw.m_active = isActive;
}
foreach (Transform child in trans)
{
SetJointActiveForChildren(child, isActive);
}
}
