解开如何将围绕矢量的旋转添加到对象的旋转

如何解决解开如何将围绕矢量的旋转添加到对象的旋转

您好，我正在为双链/臂编写反向运动学脚本。它工作得很好。但我唯一缺少的是能够围绕底座和目标（蓝色）的矢量旋转整个手臂。这是我创建的脚本：

        using System.Collections;
        using System.Collections.Generic;
        using UnityEngine;
 
        public class IKSolver : MonoBehavIoUr
     {
    [Header("Joints")]
    public Transform Link0;
    public Transform Link1;
    public Transform Endpoint;
 
    public float angle;
 
    [Header("Target")]
    public Transform Target;
 
    private float length0;
    private float length1;
 
    private void Start()
    {
        length0 = Vector2.distance(Link0.position,Link1.position);
        length1 = Vector2.distance(Link1.position,Endpoint.position);
    }
 
    void Update()
    {
        float jointAngle0;
        float jointAngle1;
        float distance = Vector3.distance(Link0.position,Target.position);
        Vector3 diffVector = Target.position - Link0.position;
 
        float acos = Mathf.Acos((Target.position.y - Link0.position.y) / distance) * Mathf.Rad2Deg;
 
        //calculate how much the arm should rotate around the Y-axis to point towards the EndPoint
        Vector3 root = Link0.rotation.eulerAngles;
        root.y = -Mathf.atan2(diffVector.z,diffVector.x) * Mathf.Rad2Deg;
        Link0.transform.eulerAngles = root;
 
        //calculate the inverse kinmatics for both links in arm      
        if (length0 + length1 < distance)
        {
            jointAngle0 = acos;
            jointAngle1 = 0f;
        }
        else
        {
            float cosAngle0 = ((distance * distance) + (length0 * length0) - (length1 * length1)) / (2 * distance * length0);
            float angle0 = Mathf.Acos(cosAngle0) * Mathf.Rad2Deg;
            float cosAngle1 = ((length1 * length1) + (length0 * length0) - (distance * distance)) / (2 * length1 * length0);
            float angle1 = Mathf.Acos(cosAngle1) * Mathf.Rad2Deg;
            jointAngle0 = acos - angle0;
            jointAngle1 = 180f - angle1;
        }
 
        //apply the calculated angles to the local transforms of the links    
        Vector3 Euler0 = Link0.transform.localEulerAngles;
        Euler0.z = -jointAngle0;
        Link0.transform.localEulerAngles = Euler0;
        Vector3 Euler1 = Link1.transform.localEulerAngles;
        Euler1.z = -jointAngle1;
        Link1.transform.localEulerAngles = Euler1;
 
        //getting angle that the arm should rotate around the blue vector
        Quaternion angleAxis = Quaternion.AngleAxis(angle,diffVector);
 
        //draw ray between Link0 and endPoint;
        Debug.DrawRay(Link0.position,angleAxis * diffVector,Color.blue);
        //draw ray of the rotation i want to achieve
        Debug.DrawRay(Link0.position,(angleAxis * Quaternion.Euler(root)) * Vector3.up,Color.magenta);
    }
  }

我在 Alan Zucconi's blog post 的帮助下创建了这个脚本。正如您在视频中看到的，我已经可以以我想要的角度（洋红色）绘制光线。我想将整个手臂旋转到这个角度。但我似乎不知道该怎么做。

你可以看到我确实得到了“Quaternion.AngleAxis”的ange。我确实将它与我之前计算的根一起应用于洋红色射线。

//getting angle that the arm should rotate around the blue vector
Quaternion angleAxis = Quaternion.AngleAxis(angle,diffVector);

但是每当我尝试将此旋转 + 根旋转应用于第一个链接时，它似乎不像洋红色光线那样工作。我似乎无法弄清楚如何解决它。

所以，就像问题的标题一样，我需要弄清楚如何将围绕矢量 diffVector 的旋转添加到已经存在的旋转 root 而不干扰本地eulerRotation Euler0.

感谢任何帮助。