1 files changed, 19 insertions, 0 deletions
diff --git a/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs b/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs
new file mode 100644
index 0000000..2358613
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs
@@ -0,0 +1,19 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public static class QuaternionHelper
+{
+    static QuaternionHelper()
+    {
+    }
+
+    // 限制旋转的自由度，只有Axis方向的自由度，即提取旋转中绕axis的部分
+    public static Quaternion Limit1DOF(Quaternion rotation, Vector3 axis)
+    {
+        // Quaternion.FromToRotation得到的是最短路径，不包含绕axis的旋转
+        Quaternion res = Quaternion.FromToRotation(rotation * axis, axis) * rotation;
+        return res;
+    }
+
+}
+\ No newline at end of file