GHZSDKXR/Runtime/SDK/Modules/Module_FinalIK2.0/Plugins/RootMotion/FinalIK/Rotation Limits/RotationLimitAngle.cs

using UnityEngine;
using System.Collections;

namespace RootMotion.FinalIK {

	/// <summary>
	/// Simple angular rotation limit.
	/// </summary>
	[HelpURL("http://www.root-motion.com/finalikdox/html/page14.html")]
	[AddComponentMenu("Scripts/RootMotion.FinalIK/Rotation Limits/Rotation Limit Angle")]
	public class RotationLimitAngle : RotationLimit {

		// Open the User Manual URL
		[ContextMenu("User Manual")]
		private void OpenUserManual() {
			Application.OpenURL("http://www.root-motion.com/finalikdox/html/page14.html");
		}
		
		// Open the Script Reference URL
		[ContextMenu("Scrpt Reference")]
		private void OpenScriptReference() {
			Application.OpenURL("http://www.root-motion.com/finalikdox/html/class_root_motion_1_1_final_i_k_1_1_rotation_limit_angle.html");
		}
		
		// Link to the Final IK Google Group
		[ContextMenu("Support Group")]
		void SupportGroup() {
			Application.OpenURL("https://groups.google.com/forum/#!forum/final-ik");
		}
		
		// Link to the Final IK Asset Store thread in the Unity Community
		[ContextMenu("Asset Store Thread")]
		void ASThread() {
			Application.OpenURL("http://forum.unity3d.com/threads/final-ik-full-body-ik-aim-look-at-fabrik-ccd-ik-1-0-released.222685/");
		}

		#region Main Interface
		
		/// <summary>
		/// The swing limit.
		/// </summary>
		[Range(0f, 180f)] public float limit = 45;
		/// <summary>
		/// Limit of twist rotation around the main axis.
		/// </summary>
		[Range(0f, 180f)] public float twistLimit = 180;
		
		#endregion Main Interface
		
		/*
		 * Limits the rotation in the local space of this instance's Transform.
		 * */
		protected override Quaternion LimitRotation(Quaternion rotation) {		
			// Subtracting off-limits swing
			Quaternion swing = LimitSwing(rotation);
			
			// Apply twist limits
			return LimitTwist(swing, axis, secondaryAxis, twistLimit);
		}
		
		/*
		 * Apply swing limits
		 * */
		private Quaternion LimitSwing(Quaternion rotation) {
			if (axis == Vector3.zero) return rotation; // Ignore with zero axes
			if (rotation == Quaternion.identity) return rotation; // Assuming initial rotation is in the reachable area
			if (limit >= 180) return rotation;
			
			Vector3 swingAxis = rotation * axis;
			
			// Get the limited swing axis
			Quaternion swingRotation = Quaternion.FromToRotation(axis, swingAxis);
			Quaternion limitedSwingRotation = Quaternion.RotateTowards(Quaternion.identity, swingRotation, limit);
			
			// Rotation from current(illegal) swing rotation to the limited(legal) swing rotation
			Quaternion toLimits = Quaternion.FromToRotation(swingAxis, limitedSwingRotation * axis);
			
			// Subtract the illegal rotation
			return toLimits * rotation;
		}
	}
}