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Update Assets/UniGLTF/Runtime/SpringBoneJobs/Anglelimit/Anglelimit.cs

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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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ousttrue
2025-07-18 17:27:48 +09:00
committed by GitHub
parent 08f22b917c
commit df49cc5e1e
1 changed files with 17 additions and 10 deletions
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27
Assets/UniGLTF/Runtime/SpringBoneJobs/Anglelimit/Anglelimit.cs
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@@ -66,17 +66,24 @@ namespace UniGLTF.SpringBoneJobs
// https://discussions.unity.com/t/unity-mathematics-equivalent-to-quaternion-fromtorotation/237459
public static quaternion fromToQuaternion(in float3 from, in float3 to)
{
var fromNorm = math.normalize(from);
var toNorm = math.normalize(to);
var dot = math.dot(fromNorm, toNorm);
// Handle the case where from and to are parallel but opposite
if (math.abs(dot + 1f) < 1e-6f) // dot is approximately -1
{
// Find a perpendicular axis
var perpAxis = math.abs(fromNorm.x) > math.abs(fromNorm.z)
? new float3(-fromNorm.y, fromNorm.x, 0f)
: new float3(0f, -fromNorm.z, fromNorm.y);
return quaternion.AxisAngle(math.normalize(perpAxis), math.PI);
}
// General case
return quaternion.AxisAngle(
angle: math.acos(
math.clamp(
math.dot(
math.normalize(from),
math.normalize(to)
),
-1f,
1f)
),
axis: math.normalize(math.cross(from, to))
angle: math.acos(math.clamp(dot, -1f, 1f)),
axis: math.normalize(math.cross(fromNorm, toNorm))
);
}