C# Bone.GetZAxis方法代码示例

        // An orientational constraint is the twist of the bone around its own direction vector
        // with respect to its parent
        // It is defined as an allowed range betwen angles [start,end]
        // where start != end && 0 < start, end <= 360
        // If both start and end is 0 no twist constraint exist
        /// <summary>
        /// Checks if the bone has a legal rotation in regards to its parent, returns true if legal, false otherwise.
        /// The out rotation gives the rotation the bone should be applied to to be inside the twist constraints
        /// </summary>
        /// <param name="b">The bone under consideration</param>
        /// <param name="refBone">The parent of the bone, to check whether the child has legal rotation</param>
        /// <param name="rotation">The rotation bone b should applie to be inside the constraints</param>
        /// <returns></returns>
        public bool CheckOrientationalConstraint(Bone b, Bone refBone, out Quaternion rotation)
        {
            if (b.Orientation.Xyz.IsNaN() || refBone.Orientation.Xyz.IsNaN())
            {
                rotation = Quaternion.Identity;
                return false;
            }
            Vector3 thisY = b.GetYAxis();
            Quaternion referenceRotation = refBone.Orientation * b.ParentPointer;
            Vector3 reference = Vector3.Transform(
                    Vector3.Transform(Vector3.UnitZ, referenceRotation),
                    QuaternionHelper2.GetRotationBetween(
                            Vector3.Transform(Vector3.UnitY, referenceRotation),
                            thisY));

            float twistAngle = MathHelper.RadiansToDegrees(Vector3.CalculateAngle(reference, b.GetZAxis()));

            if (Vector3.CalculateAngle(reference, b.GetXAxis()) > Mathf.PI / 2) // b is twisted left with respect to parent
                twistAngle = 360 - twistAngle;

            float leftLimit = b.StartTwistLimit;
            float rightLimit = b.EndTwistLimit;

            float precision = 0.5f;
            bool inside = (leftLimit >= rightLimit) ? // The allowed range is on both sides of the reference vector
                    inside = twistAngle - leftLimit >= precision || twistAngle - rightLimit <= precision :
                    inside = twistAngle - leftLimit >= precision && twistAngle - rightLimit <= precision;

            if (!inside) // not inside constraints
            {
                // Create a rotation to the closest limit
                float toLeft = Math.Min(360 - Math.Abs(twistAngle - leftLimit), Math.Abs(twistAngle - leftLimit));
                float toRight = Math.Min(360 - Math.Abs(twistAngle - rightLimit), Math.Abs(twistAngle - rightLimit));
                if (toLeft < toRight)
                {
                    // Anti-clockwise rotation to left limit
                    rotation = Quaternion.FromAxisAngle(thisY, -MathHelper.DegreesToRadians(toLeft));
                    return true;
                }
                else
                {
                    // Clockwise to right limit
                    rotation = Quaternion.FromAxisAngle(thisY, MathHelper.DegreesToRadians(toRight));
                    return true;
                }
            }
            rotation = Quaternion.Identity;
            return false;
        }

        /// <summary>
        /// Draws the twist constraints accoriding in Unity using Giszmos
        /// </summary>
        /// <param name="b">The bone with its constraints</param>
        /// <param name="refBone">The to be twisted against</param>
        /// <param name="poss">The position of where it should be drawn</param>
        /// <param name="scale">The scale of the constraints</param>
        public static void DrawTwistConstraints(Bone b, Bone refBone, OpenTK.Vector3 poss, float scale)
        {
            if (b.Orientation.Xyz.IsNaN() || refBone.Orientation.Xyz.IsNaN())
            {
                return;
            }
            OpenTK.Vector3 thisY = b.GetYAxis();

            OpenTK.Quaternion referenceRotation = refBone.Orientation * b.ParentPointer;
            OpenTK.Vector3 parentY = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitY, referenceRotation);
            OpenTK.Vector3 parentZ = OpenTK.Vector3.Transform(OpenTK.Vector3.UnitZ, referenceRotation);

            OpenTK.Quaternion rot = QuaternionHelper2.GetRotationBetween(parentY, thisY);
            OpenTK.Vector3 reference = OpenTK.Vector3.Transform(parentZ, rot);
            reference.Normalize();
            Debug.DrawRay(poss.Convert(), (b.GetZAxis() * scale*2).Convert(), Color.cyan);

            float startTwistLimit = OpenTK.MathHelper.DegreesToRadians(b.StartTwistLimit);
            OpenTK.Vector3 m = OpenTK.Vector3.Transform(reference, OpenTK.Quaternion.FromAxisAngle(thisY, startTwistLimit));
            m.Normalize();
            Debug.DrawRay(poss.Convert(), m.Convert() * scale, Color.yellow);

            float endTwistLimit = OpenTK.MathHelper.DegreesToRadians(b.EndTwistLimit);
            OpenTK.Vector3 m2 = OpenTK.Vector3.Transform(reference, OpenTK.Quaternion.FromAxisAngle(thisY, endTwistLimit));
            m2.Normalize();
            Debug.DrawRay(poss.Convert(), m2.Convert() * scale, Color.magenta);

            Debug.DrawLine((poss + (m*scale)).Convert(), (poss + (m2*scale)).Convert(), Color.cyan);
        }