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euler

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ousttrue
2021-05-14 16:45:23 +09:00
parent 12e0cc0406
commit f95123e208
2 changed files with 12 additions and 11 deletions
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5
Assets/VRM10/Runtime/Components/Constraint/VRM10AimConstraint.cs
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@@ -60,11 +60,10 @@ namespace UniVRM10
return;
}
// var init = ParentRotation * Logic.InitialLocalRotation;
var m = Matrix4x4.TRS(transform.position, ParentRotation * DestinationOffset, Vector3.one);
var m = Matrix4x4.TRS(transform.position, ParentRotation * Logic.InitialLocalRotation * DestinationOffset, Vector3.one);
(Yaw, Pitch) = m.CalcYawPitch(Source.position);
Delta = Quaternion.Euler(0, Yaw, 0) * Quaternion.Euler(Pitch, 0, 0);
transform.rotation = ParentRotation * Delta;
transform.rotation = ParentRotation * Logic.InitialLocalRotation * DestinationOffset * Delta;
}
public float Yaw;

18
Assets/VRM10/Runtime/Components/LookAt/Matrix4x4Extensions.cs
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@@ -15,17 +15,19 @@ namespace UniVRM10
/// <returns></returns>
public static (float Yaw, float Pitch) CalcYawPitch(this Matrix4x4 m, Vector3 target)
{
var p = m.GetColumn(3);
target -= new Vector3(p.x, p.y, p.z);
var zaxis = Vector3.Project(target, m.GetColumn(2));
var yaxis = Vector3.Project(target, m.GetColumn(1));
var xaxis = Vector3.Project(target, m.GetColumn(0));
var localPosition = m.inverse.MultiplyPoint(target);
var yawPlusMinus = Vector3.Dot(xaxis, m.GetColumn(0)) > 0 ? 1.0f : -1.0f;
var yaw = (float)Math.Atan2(xaxis.magnitude, zaxis.magnitude) * yawPlusMinus * Mathf.Rad2Deg;
var zaxis = Vector3.Project(localPosition, Vector3.forward);
var yaxis = Vector3.Project(localPosition, Vector3.up);
var xaxis = Vector3.Project(localPosition, Vector3.right);
// y z plane
var pitchPlusMinus = Vector3.Dot(yaxis, m.GetColumn(1)) < 0 ? 1.0f : -1.0f;
var pitch = (float)Math.Atan2(yaxis.magnitude, (xaxis + zaxis).magnitude) * pitchPlusMinus * Mathf.Rad2Deg;
var pitch = (float)Math.Atan2(yaxis.magnitude, zaxis.magnitude) * pitchPlusMinus * Mathf.Rad2Deg;
// y+z x plane
var yawPlusMinus = Vector3.Dot(xaxis, m.GetColumn(0)) > 0 ? 1.0f : -1.0f;
var yaw = (float)Math.Atan2(xaxis.magnitude, (yaxis + zaxis).magnitude) * yawPlusMinus * Mathf.Rad2Deg;
return (yaw, pitch);
}