94 lines
3 KiB
C#
94 lines
3 KiB
C#
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using UnityEngine;
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using System.Collections;
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namespace RootMotion.FinalIK {
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/// <summary>
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/// The hinge rotation limit limits the rotation to 1 degree of freedom around Axis. This rotation limit is additive which means the limits can exceed 360 degrees.
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/// </summary>
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[HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")]
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[AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Hinge")]
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public class RotationLimitHinge : RotationLimit {
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// Open the User Manual URL
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[ContextMenu("User Manual")]
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private void OpenUserManual() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html");
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}
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// Open the Script Reference URL
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[ContextMenu("Scrpt Reference")]
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private void OpenScriptReference() {
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Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_hinge.html");
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}
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// Link to the Final IK Google Group
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[ContextMenu("Support Group")]
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void SupportGroup() {
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Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik");
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}
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// Link to the Final IK Asset Store thread in the Unity Community
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[ContextMenu("Asset Store Thread")]
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void ASThread() {
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Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/");
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}
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#region Main Interface
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/// <summary>
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/// Should the rotation be limited around the axis?
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/// </summary>
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public bool useLimits = true;
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/// <summary>
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/// The min limit around the axis.
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/// </summary>
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public float min = -45;
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/// <summary>
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/// The max limit around the axis.
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/// </summary>
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public float max = 90;
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#endregion Main Interface
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/*
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* Limits the rotation in the local space of this instance's Transform.
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* */
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protected override Quaternion LimitRotation(Quaternion rotation) {
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lastRotation = LimitHinge(rotation);
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return lastRotation;
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}
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[HideInInspector] public float zeroAxisDisplayOffset; // Angular offset of the scene view display of the Hinge rotation limit
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private Quaternion lastRotation = Quaternion.identity;
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private float lastAngle;
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/*
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* Apply the hinge rotation limit
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* */
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private Quaternion LimitHinge(Quaternion rotation) {
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// If limit is zero return rotation fixed to axis
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if (min == 0 && max == 0 && useLimits) return Quaternion.AngleAxis(0, axis);
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// Get 1 degree of freedom rotation along axis
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Quaternion free1DOF = Limit1DOF(rotation, axis);
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if (!useLimits) return free1DOF;
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// Get offset from last rotation in angle-axis representation
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Quaternion addR = free1DOF * Quaternion.Inverse(lastRotation);
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float addA = Quaternion.Angle(Quaternion.identity, addR);
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Vector3 secondaryAxis = new Vector3(axis.z, axis.x, axis.y);
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Vector3 cross = Vector3.Cross(secondaryAxis, axis);
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if (Vector3.Dot(addR * secondaryAxis, cross) > 0f) addA = - addA;
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// Clamp to limits
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lastAngle = Mathf.Clamp(lastAngle + addA, min, max);
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return Quaternion.AngleAxis(lastAngle, axis);
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}
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}
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}
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