💿🐜 Antkeeper source code
https://antkeeper.com
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
1.6 KiB
51 lines
1.6 KiB
/*
|
|
* 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_EULER_IK_CONSTRAINT_HPP
|
|
#define ANTKEEPER_ANIMATION_EULER_IK_CONSTRAINT_HPP
|
|
|
|
#include <engine/animation/ik/ik-constraint.hpp>
|
|
#include <engine/math/numbers.hpp>
|
|
|
|
/**
|
|
* Euler angle IK constraint.
|
|
*/
|
|
class euler_ik_constraint: public ik_constraint
|
|
{
|
|
public:
|
|
void solve(math::fquat& q) override;
|
|
|
|
/**
|
|
* Sets the angular limits.
|
|
*
|
|
* @param min Minimum angles of the x-, y-, and z-axes, in radians.
|
|
* @param max Maximum angles of the x-, y-, and z-axes, in radians.
|
|
*/
|
|
inline void set_limits(const math::fvec3& min, const math::fvec3& max) noexcept
|
|
{
|
|
m_min = min;
|
|
m_max = max;
|
|
}
|
|
|
|
private:
|
|
math::fvec3 m_min{-math::pi<float>, -math::pi<float>, -math::pi<float>};
|
|
math::fvec3 m_max{ math::pi<float>, math::pi<float>, math::pi<float>};
|
|
};
|
|
|
|
#endif // ANTKEEPER_ANIMATION_EULER_IK_CONSTRAINT_HPP
|