ui 추가

Assets/Scripts/MoveRobotArm.cs

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+using System;
+using UnityEngine;
+using System.Collections.Generic;
+public class MoveRobotArm : MonoBehaviour
+{
+    public Transform target;
+    public Transform endPoint;
+    public enum eRobotArmRotateAxis
+    {
+        x, y, z
+    }
+    [Serializable]
+    public struct stRobotArmJoint
+    {
+        public Transform jointTransform;
+        public eRobotArmRotateAxis axisType;
+        public float angle;
+        public float maxAngle;
+        public float minAngle;
+        public float baseAngle;
+        public float gradient;
+        public float delta;
+        public void Rotate(float angle)
+        {
+            switch (axisType)
+            {
+                case eRobotArmRotateAxis.x:
+                    jointTransform.eulerAngles = new Vector3(angle, jointTransform.eulerAngles.y, jointTransform.eulerAngles.z);
+                    break;
+                case eRobotArmRotateAxis.y:
+                    jointTransform.eulerAngles = new Vector3(jointTransform.eulerAngles.x, angle, jointTransform.eulerAngles.z);
+                    break;
+                case eRobotArmRotateAxis.z:
+                    jointTransform.eulerAngles = new Vector3(jointTransform.eulerAngles.x, jointTransform.eulerAngles.y, angle);
+                    break;
+            }
+        } 
+    }
+    public List<stRobotArmJoint> joints = new List<stRobotArmJoint>();
+    // Start is called once before the first execution of Update after the MonoBehaviour is created
+    void Start()
+    {
+        for (int i = 0; i < joints.Count; i++)
+        {
+            stRobotArmJoint joint = joints[i];
+            joint.gradient = 1.0f;
+        } 
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if (target == null)
+            return;
+        for (int i = 0; i < joints.Count; i++)
+        {
+            stRobotArmJoint joint = joints[i];
+            float distance = Vector3.Distance(target.position, endPoint.position);
+            float angle = joint.angle;
+            joint.Rotate(angle + joint.gradient);
+            float checkDistanceP = Vector3.Distance(target.position, endPoint.position);
+            joint.Rotate(angle - joint.gradient);
+            float checkDistanceN = Vector3.Distance(target.position, endPoint.position);
+            //if (checkDistanceP > )
+        }
+    }
+}

Assets/Scripts/MoveRobotArm.cs.meta

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+fileFormatVersion: 2
+guid: 939a8d4e03d60b64cbed597bedfe7923