7 files changed, 96 insertions, 0 deletions
diff --git a/UnityCollection/Assets/Utilities/MathUtils.meta b/UnityCollection/Assets/Utilities/MathUtils.meta
new file mode 100644
index 0000000..37b5d2b
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils.meta
@@ -0,0 +1,8 @@
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diff --git a/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs b/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs
new file mode 100644
index 0000000..69364d9
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs
@@ -0,0 +1,18 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class PlaneHelper : MonoBehaviour
+{
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}
diff --git a/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs.meta b/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs.meta
new file mode 100644
index 0000000..9e47536
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/PlaneHelper.cs.meta
@@ -0,0 +1,11 @@
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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
diff --git a/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs.meta b/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs.meta
new file mode 100644
index 0000000..858b28b
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/QuaternionHelper.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs b/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs
new file mode 100644
index 0000000..2f4f258
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs
@@ -0,0 +1,18 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Vector3Helper : MonoBehaviour
+{
+    // Start is called before the first frame update
+    void Start()
+    {
+        
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}
diff --git a/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs.meta b/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs.meta
new file mode 100644
index 0000000..1fe19d4
--- /dev/null
+++ b/UnityCollection/Assets/Utilities/MathUtils/Vector3Helper.cs.meta
@@ -0,0 +1,11 @@
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