💿🐜 Antkeeper source code https://antkeeper.com
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  1. /*
  2. * Copyright (C) 2023 Christopher J. Howard
  3. *
  4. * This file is part of Antkeeper source code.
  5. *
  6. * Antkeeper source code is free software: you can redistribute it and/or modify
  7. * it under the terms of the GNU General Public License as published by
  8. * the Free Software Foundation, either version 3 of the License, or
  9. * (at your option) any later version.
  10. *
  11. * Antkeeper source code is distributed in the hope that it will be useful,
  12. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  13. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  14. * GNU General Public License for more details.
  15. *
  16. * You should have received a copy of the GNU General Public License
  17. * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
  18. */
  19. #ifndef ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
  20. #define ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
  21. #include <engine/animation/ik/ik-constraint.hpp>
  22. #include <engine/math/numbers.hpp>
  23. /**
  24. * IK constraint with cone-limited swing and angle-limited twist.
  25. */
  26. class swing_twist_ik_constraint: public ik_constraint
  27. {
  28. public:
  29. void solve(math::fquat& q) override;
  30. /**
  31. * Sets the twist rotation limit.
  32. *
  33. * @param angle_min Minimum twist angle, in radians.
  34. * @param angle_max Maximum twist angle, in radians.
  35. */
  36. void set_twist_limit(float angle_min, float angle_max);
  37. private:
  38. float m_cos_half_twist_min{ 0};
  39. float m_sin_half_twist_min{-1};
  40. float m_cos_half_twist_max{ 0};
  41. float m_sin_half_twist_max{ 1};
  42. };
  43. #endif // ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP