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22 lines
955 B
C#
22 lines
955 B
C#
1 year ago
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public static class JointExtensions{
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public static Vector3 Angles(this ConfigurableJoint joint){
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float to180(float v) {
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if (v > 180) {
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v = v - 360;
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}
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return v;
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}
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Quaternion jointBasis = Quaternion.LookRotation(joint.secondaryAxis, Vector3.Cross(joint.axis, joint.secondaryAxis));
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Quaternion jointBasisInverse = Quaternion.Inverse(jointBasis);
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Vector3 rotation;
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if(joint.connectedBody != null) rotation = (jointBasisInverse * Quaternion.Inverse(joint.connectedBody.rotation) * joint.GetComponent<Rigidbody>().transform.rotation * jointBasis).eulerAngles;
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else rotation = (jointBasisInverse * joint.GetComponent<Rigidbody>().transform.rotation * jointBasis).eulerAngles;
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return new Vector3(to180(rotation.x), to180(rotation.z),to180(rotation.y));
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}
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}
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