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- /*
- * Copyright (C) 2023 Christopher J. Howard
- *
- * This file is part of Antkeeper source code.
- *
- * Antkeeper source code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper source code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
- #define ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
-
- #include <engine/animation/ik/ik-constraint.hpp>
- #include <engine/math/numbers.hpp>
-
- /**
- * IK constraint with cone-limited swing and angle-limited twist.
- */
- class swing_twist_ik_constraint: public ik_constraint
- {
- public:
- void solve(math::fquat& q) override;
-
- /**
- * Sets the twist rotation limit.
- *
- * @param angle_min Minimum twist angle, in radians.
- * @param angle_max Maximum twist angle, in radians.
- */
- void set_twist_limit(float angle_min, float angle_max);
-
- private:
- float m_cos_half_twist_min{ 0};
- float m_sin_half_twist_min{-1};
- float m_cos_half_twist_max{ 0};
- float m_sin_half_twist_max{ 1};
- };
-
- #endif // ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
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