bool RotDir(const XMVECTOR& dir_from, const XMVECTOR& dir_to, float ang_limit, XMVECTOR* axis, float* ang)
{
XMVECTOR eps0 = XMVectorSet(0.0005f, 0.0005f, 0.0005f, 1.0f);
//XMVECTOR eps0 = { 0.0000001f, 0.0000001f, 0.0000001f, 0.0000001f };
XMVECTOR ik_dir = XMVector3Normalize(dir_to);
XMVECTOR tg_dir = XMVector3Normalize(dir_from);
if (XMVector3NearEqual(tg_dir, ik_dir, eps0)){
return false;
}
// 回転軸と角度
eps0 = XMVectorSet(0.0000001f, 0.0000001f, 0.0000001f, 1.0f); //XMVectorSet(0.0005f, 0.0005f, 0.0005f, 0.0f);
XMVECTOR rot_axis = XMVector3Cross(tg_dir, ik_dir);
if (XMVector3NearEqual(rot_axis, XMVectorSet(0, 0, 0, 0), eps0)){
return false;
}
*axis = XMVector3Normalize(rot_axis);
*ang = XMVectorGetX(XMVectorACos(XMVector3Dot(tg_dir, ik_dir)));
// 回転量制限
if (*ang > ang_limit)*ang = ang_limit;
if (*ang < -ang_limit)*ang = -ang_limit;
return true;
}
bool MathHelper::CompareVector3WithEpsilon(const XMFLOAT3& lhs, const XMFLOAT3& rhs)
{
return XMVector3NearEqual(XMLoadFloat3(&lhs), XMLoadFloat3(&rhs), XMLoadFloat3(&vector3Epsilon)) == TRUE;
}