💿🐜 Antkeeper source code
https://antkeeper.com
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40 lines
1.3 KiB
40 lines
1.3 KiB
/*
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* Copyright (C) 2023 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <engine/animation/ik/constraints/euler-ik-constraint.hpp>
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#include <algorithm>
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#include <cmath>
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void euler_ik_constraint::solve(math::fquat& q)
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{
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// Store w-component of quaternion
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float old_w = q.w();
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// Derive Euler angles from quaternion
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auto angles = math::euler_from_quat(m_rotation_sequence, q);
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// Constrain Euler angles
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angles = math::clamp(angles, m_min_angles, m_max_angles);
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// Rebuild quaternion from constrained Euler angles
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q = math::euler_to_quat(m_rotation_sequence, angles);
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// Restore quaternion sign
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q.w() = std::copysign(q.w(), old_w);
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}
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