refact: 将旋转矩阵的计算抽象为旋转工具类

Assets/MainBehaviour.cs

@@ -88,9 +88,7 @@ private void CreateNodes()
 
     private void CreateBonds()
     {
-        //shit code,it's my fault
+        var temp = new Bonds(_nodes[0], _nodes[4], _scale);
-        Bonds temp;
-        temp = new Bonds(_nodes[0], _nodes[4], _scale);
         _bonds.Add(temp);
         
         temp = new Bonds(_nodes[0], _nodes[1], _scale);
@@ -219,49 +217,4 @@ private void OnReceive(List<PoseLandmark> landmarks)
             _poseTransforms[(int)landmark.Type] = poseTransform;
         }
     }
-
-    //绕X轴旋转
-    private Matrix4x4 RotateAxisX(float rot)
-    {
-        var matrix = new Matrix4x4();
-        float cosrot = MathF.Cos(rot);
-        float sinrot = MathF.Sin(rot);
-            
-        matrix.SetRow(0, new Vector4(1,0,0,0));
-        matrix.SetRow(1, new Vector4(0,cosrot,-sinrot,0));
-        matrix.SetRow(2, new Vector4(0,sinrot,cosrot,0));
-        matrix.SetRow(3, new Vector4(0,0,0,1));
-
-        return matrix;
-    }
-    
-    //绕Y轴旋转
-    private Matrix4x4 RotateAxisY(float rot)
-    {
-        var matrix = new Matrix4x4();
-        float cosrot = MathF.Cos(rot);
-        float sinrot = MathF.Sin(rot);
-            
-        matrix.SetRow(0, new Vector4(cosrot,0,sinrot,0));
-        matrix.SetRow(1, new Vector4(0,1,0,0));
-        matrix.SetRow(2, new Vector4(-sinrot,0,cosrot,0));
-        matrix.SetRow(3, new Vector4(0,0,0,1));
-
-        return matrix;
-    }
-    
-    //绕Z轴旋转
-    private Matrix4x4 RotateAxisZ(float rot)
-    {
-        var matrix = new Matrix4x4();
-        float cosrot = MathF.Cos(rot);
-        float sinrot = MathF.Sin(rot);
-            
-        matrix.SetRow(0, new Vector4(cosrot,-sinrot,0,0));
-        matrix.SetRow(1, new Vector4(sinrot,cosrot,0,0));
-        matrix.SetRow(2, new Vector4(0,0,1,0));
-        matrix.SetRow(3, new Vector4(0,0,0,1));
-
-        return matrix;
-    }
 }

Assets/Utils/RotateUtils.cs

@@ -0,0 +1,67 @@
+using System;
+using UnityEngine;
+
+namespace Utils
+{
+    /// <summary>
+    /// 旋转工具类
+    /// </summary>
+    public static class RotateUtils
+    {
+        private static Matrix4x4 _matrix;
+
+        /// <summary>
+        /// 获得绕X轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisX(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0 ,new Vector4(1,0,0,0));
+            _matrix.SetRow(1, new Vector4(0, cos, -sin, 0));
+            _matrix.SetRow(2, new Vector4(0, sin, cos, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+
+        /// <summary>
+        /// 获得绕Y轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisY(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0, new Vector4(cos, 0, sin, 0));
+            _matrix.SetRow(1, new Vector4(0, 1, 0, 1));
+            _matrix.SetRow(2, new Vector4(-sin, 0, cos, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+
+        /// <summary>
+        /// 获得绕Z轴旋转矩阵
+        /// </summary>
+        /// <param name="degree">旋转的角度</param>
+        /// <returns></returns>
+        public static Matrix4x4 RotateAxisZ(float degree)
+        {
+            var sin = MathF.Sin(degree);
+            var cos = MathF.Cos(degree);
+            
+            _matrix.SetRow(0, new Vector4(cos, -sin, 0, 0));
+            _matrix.SetRow(1, new Vector4(sin, cos, 0, 0));
+            _matrix.SetRow(2, new Vector4(0, 0, 1, 0));
+            _matrix.SetRow(3, new Vector4(0, 0, 0, 1));
+
+            return _matrix;
+        }
+    }
+}

Assets/Utils/RotateUtils.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: d748c6669d714e65a5ca9164c5798583
+timeCreated: 1677319275