HumanoidControl_Free/Runtime/Tools/Scripts/Generic.cs

using UnityEngine;

namespace Passer {

    public static class UnityAngles {
        // Clamp all vector axis between the given min and max values
        // Angles are normalized
        public static Vector3 Clamp(Vector3 angles, Vector3 min, Vector3 max) {
            float x = Clamp(angles.x, min.x, max.x);
            float y = Clamp(angles.y, min.y, max.y);
            float z = Clamp(angles.z, min.z, max.z);
            return new Vector3(x, y, z);
        }

        // clamp the angle between the given min and max values
        // Angles are normalized
        public static float Clamp(float angle, float min, float max) {
            float normalizedAngle = Normalize(angle);
            return Mathf.Clamp(normalizedAngle, min, max);
        }

        // Determine the angle difference, result is a normalized angle
        public static float Difference(float a, float b) {
            float r = Normalize(b - a);
            return r;
        }

        // Normalize an angle to the range -180 < angle <= 180
        public static float Normalize(float angle) {
            while (angle <= -180) angle += 360;
            while (angle > 180) angle -= 360;
            return angle;
        }

        // Normalize all vector angles to the range -180 < angle < 180
        public static Vector3 Normalize(Vector3 angles) {
            float x = Normalize(angles.x);
            float y = Normalize(angles.y);
            float z = Normalize(angles.z);
            return new Vector3(x, y, z);
        }

        // Returns the signed angle in degrees between from and to.
        public static float SignedAngle(Vector3 from, Vector3 to) {
            float angle = Vector3.Angle(from, to);
            Vector3 cross = Vector3.Cross(from, to);
            if (cross.y < 0) angle = -angle;
            return angle;
        }

        // Returns the signed angle in degrees between from and to.
        public static float SignedAngle(Vector2 from, Vector2 to) {
            float sign = Mathf.Sign(from.y * to.x - from.x * to.y);
            return Vector2.Angle(from, to) * sign;
        }

        //public static Quaternion ToQuaternion(Rotation orientation) {
        //    return new Quaternion(orientation.x, orientation.y, orientation.z, orientation.w);
        //}
    }

    public static class Rotations {
        /// <summary>
        /// Rotate a rotation.
        /// Rotates rotation1 according to rotation2.
        /// This is needed, because rotation1 * rotation2 rotates the orientation.
        /// </summary>
        /// <param name="rotation1">The rotation to rotate</param>
        /// <param name="rotation2">The rotation</param>
        /// <returns></returns>
        public static Quaternion Rotate(Quaternion rotation1, Quaternion rotation2) {
            float angle;
            Vector3 axis;
            rotation1.ToAngleAxis(out angle, out axis);

            Vector3 newAxis = rotation2 * axis;
            Quaternion newRotation1 = Quaternion.AngleAxis(angle, newAxis);

            return newRotation1;
        }
    }

    public static class Vectors {
        public static float DistanceToRay(Ray ray, Vector3 point) {
            return Vector3.Cross(ray.direction, point - ray.origin).magnitude;
        }
    }
    public static class Transforms {
        // transform local rotation to world rotation
        public static Quaternion TransformRotation(Transform transform, Quaternion localRotation) {
            if (transform.parent == null)
                return localRotation;
            else
                return transform.parent.rotation * localRotation;
        }

        //
        // Summary:
        //     ///
        //     Transforms rotation from local space to world space.
        //     ///
        //
        // Parameters:
        //   transform:
        public static Quaternion InverseTransformRotation(Transform transform, Quaternion rotation) {
            if (transform.parent == null)
                return rotation;
            else
                return Quaternion.Inverse(transform.parent.rotation) * rotation;
        }
    }

    //public class RigidbodyData {
    //    public float mass = 1;
    //    public float drag;
    //    public float angularDrag = 0.05F;
    //    public bool useGravity = true;
    //    public bool isKinematic;
    //    public RigidbodyInterpolation interpolation = RigidbodyInterpolation.None;
    //    public CollisionDetectionMode collisionDetectionMode = CollisionDetectionMode.Discrete;
    //    public RigidbodyConstraints constraints = RigidbodyConstraints.None;
    //    public Transform parent;

    //    public RigidbodyData(Rigidbody rb) {
    //        mass = rb.mass;
    //        drag = rb.drag;
    //        angularDrag = rb.angularDrag;
    //        useGravity = rb.useGravity;
    //        isKinematic = rb.isKinematic;
    //        interpolation = rb.interpolation;
    //        collisionDetectionMode = rb.collisionDetectionMode;
    //        constraints = rb.constraints;

    //        parent = rb.transform.parent;
    //    }

    //    public void CopyToRigidbody(Rigidbody rb) {
    //        rb.mass = mass;
    //        rb.drag = drag;
    //        rb.angularDrag = angularDrag;
    //        rb.useGravity = useGravity;
    //        rb.isKinematic = isKinematic;
    //        rb.interpolation = interpolation;
    //        rb.collisionDetectionMode = collisionDetectionMode;
    //        rb.constraints = constraints;

    //        rb.transform.parent = parent;
    //    }

    //    public static RigidbodyData ParentRigidbody(Transform parentTransform, Rigidbody childRigidbody) {
    //        RigidbodyData rigidbodyData = new RigidbodyData(childRigidbody);

    //        childRigidbody.transform.parent = parentTransform;

    //        if (Application.isPlaying)
    //            Object.Destroy(childRigidbody);
    //        else
    //            Object.DestroyImmediate(childRigidbody, true);

    //        return rigidbodyData;
    //    }

    //    public static RigidbodyData ParentRigidbody(Rigidbody parentRigidbody, Rigidbody childRigidbody) {
    //        RigidbodyData rigidbodyData = new RigidbodyData(childRigidbody);

    //        childRigidbody.transform.parent = parentRigidbody.transform;
    //        parentRigidbody.mass += childRigidbody.mass;

    //        if (Application.isPlaying)
    //            Object.Destroy(childRigidbody);
    //        else
    //            Object.DestroyImmediate(childRigidbody, true);

    //        return rigidbodyData;
    //    }

    //    public Rigidbody UnparentRigidbody(Transform parentTransform, Transform childRigidbodyTransform) {
    //        Rigidbody childRigidbody = childRigidbodyTransform.GetComponent<Rigidbody>();
    //        if (!childRigidbodyTransform.gameObject.isStatic && childRigidbody == null) {
    //            childRigidbody = childRigidbodyTransform.gameObject.AddComponent<Rigidbody>();
    //            CopyToRigidbody(childRigidbody);
    //        }
    //        childRigidbody.transform.parent = null;

    //        // To do: copy velocity of parent to child
    //        return childRigidbody;
    //    }

    //    public Rigidbody UnparentRigidbody(Rigidbody parentRigidbody, Transform childRigidbodyTransform) {
    //        Rigidbody childRigidbody = childRigidbodyTransform.GetComponent<Rigidbody>();
    //        if (!childRigidbodyTransform.gameObject.isStatic && childRigidbody == null) {
    //            childRigidbody = childRigidbodyTransform.gameObject.AddComponent<Rigidbody>();
    //            CopyToRigidbody(childRigidbody);
    //        }
    //        parentRigidbody.mass -= childRigidbody.mass;

    //        // To do: copy velocity of parent to child
    //        return childRigidbody;
    //    }
    //}

}