💿🐜 Antkeeper source code
https://antkeeper.com
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89 lines
2.8 KiB
89 lines
2.8 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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#ifndef ANTKEEPER_ANIMATION_EULER_IK_CONSTRAINT_HPP
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#define ANTKEEPER_ANIMATION_EULER_IK_CONSTRAINT_HPP
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#include <engine/animation/ik/ik-constraint.hpp>
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#include <engine/math/euler-angles.hpp>
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#include <engine/math/numbers.hpp>
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/**
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* Euler angle IK constraint.
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*/
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class euler_ik_constraint: public ik_constraint
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{
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public:
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void solve(math::fquat& q) override;
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/**
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* Sets the rotation sequence of the Euler angles of the constraint.
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*
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* @param sequence Euler angle rotation sequence.
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*/
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inline void set_rotation_sequence(math::rotation_sequence sequence) noexcept
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{
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m_rotation_sequence = sequence;
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}
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/**
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* Sets the minimum Euler angles of the constraint.
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*
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* @param angles Minimum angles of the first, second, and third Euler angles, in radians.
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*/
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inline void set_min_angles(const math::fvec3& angles) noexcept
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{
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m_min_angles = angles;
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}
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/**
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* Sets the maximum Euler angles of the constraint.
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*
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* @param angles Maximum angles of the first, second, and third Euler angles, in radians.
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*/
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inline void set_max_angles(const math::fvec3& angles) noexcept
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{
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m_max_angles = angles;
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}
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/// Returns the rotation sequence of the Euler angles of the constraint.
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[[nodiscard]] inline constexpr math::rotation_sequence get_rotation_sequence() const noexcept
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{
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return m_rotation_sequence;
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}
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/// Returns the minimum angles of the first, second, and third Euler angles, in radians.
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[[nodiscard]] inline constexpr const math::fvec3& get_min_angles() const noexcept
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{
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return m_min_angles;
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}
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/// Returns the maximum angles of the first, second, and third Euler angles, in radians.
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[[nodiscard]] inline constexpr const math::fvec3& get_max_angles() const noexcept
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{
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return m_max_angles;
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}
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private:
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math::rotation_sequence m_rotation_sequence{math::rotation_sequence::xyz};
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math::fvec3 m_min_angles{-math::pi<float>, -math::pi<float>, -math::pi<float>};
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math::fvec3 m_max_angles{ math::pi<float>, math::pi<float>, math::pi<float>};
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};
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#endif // ANTKEEPER_ANIMATION_EULER_IK_CONSTRAINT_HPP
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