|
static private _ComputeCenterLegBasis ( Matrix3x3 ¢erLegBasis, |
||
| centerLegBasis | Matrix3x3 | |
| spinePos | ||
| leftLegPos | ||
| rightLegPos | ||
| return | bool | |
static bool _ComputeCenterLegBasis(
out Matrix3x3 centerLegBasis,
ref Vector3 spinePos,
ref Vector3 leftLegPos,
ref Vector3 rightLegPos )
{
Vector3 dirX = rightLegPos - leftLegPos;
Vector3 dirY = spinePos - (rightLegPos + leftLegPos) * 0.5f;
if( SAFBIKVecNormalize( ref dirY ) ) {
return SAFBIKComputeBasisFromXYLockY( out centerLegBasis, ref dirX, ref dirY );
} else {
centerLegBasis = Matrix3x3.identity;
return false;
}
}