| static private _ComputeThetaAxis ( Vector3 &dirFrom, Vector3 &dirTo, float &theta, Vector3 &axis ) : bool | ||
| dirFrom | Vector3 | |
| dirTo | Vector3 | |
| theta | float | |
| axis | Vector3 | |
| return | bool | |
static bool _ComputeThetaAxis(
ref Vector3 dirFrom,
ref Vector3 dirTo,
out float theta,
out Vector3 axis )
{
CheckNormalized( dirFrom );
CheckNormalized( dirTo );
axis = Vector3.Cross( dirFrom, dirTo );
if( !SAFBIKVecNormalize( ref axis ) ) {
theta = 0.0f;
axis = new Vector3( 0.0f, 0.0f, 1.0f );
return false;
}
theta = Vector3.Dot( dirFrom, dirTo );
return true;
}
| FullBodyIK::_ComputeThetaAxis ( Vector3 &origPos, Vector3 &fromPos, Vector3 &toPos, float &theta, Vector3 &axis ) : bool |