💿🐜 Antkeeper source code
https://antkeeper.com
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53 lines
2.1 KiB
53 lines
2.1 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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// Derive XYZ angles from quaternion
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const auto x = std::atan2(2.0f * (q.w() * q.x() + q.y() * q.z()), 1.0f - 2.0f * (q.x() * q.x() + q.y() * q.y()));
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const auto y = std::asin(2.0f * (q.w() * q.y() - q.z() * q.x()));
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const auto z = std::atan2(2.0f * (q.w() * q.z() + q.x() * q.y()), 1.0f - 2.0f * (q.y() * q.y() + q.z() * q.z()));
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// Constrain and halve angles
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const auto half_constrained_x = std::min<float>(std::max<float>(x, m_min.x()), m_max.x()) * 0.5f;
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const auto half_constrained_y = std::min<float>(std::max<float>(y, m_min.y()), m_max.y()) * 0.5f;
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const auto half_constrained_z = std::min<float>(std::max<float>(z, m_min.z()), m_max.z()) * 0.5f;
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// Reconstruct quaternion from constrained, halved angles
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const auto cx = std::cos(half_constrained_x);
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const auto sx = std::sin(half_constrained_x);
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const auto cy = std::cos(half_constrained_y);
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const auto sy = std::sin(half_constrained_y);
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const auto cz = std::cos(half_constrained_z);
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const auto sz = std::sin(half_constrained_z);
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q = math::normalize
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(
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math::fquat
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{
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cx * cy * cz + sx * sy * sz,
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sx * cy * cz - cx * sy * sz,
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cx * sy * cz + sx * cy * sz,
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cx * cy * sz - sx * sy * cz
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}
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);
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}
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