💿🐜 Antkeeper source code
https://antkeeper.com
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49 lines
1.5 KiB
49 lines
1.5 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_SWING_TWIST_IK_CONSTRAINT_HPP
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#define ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
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#include <engine/animation/ik/ik-constraint.hpp>
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#include <engine/math/numbers.hpp>
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/**
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* IK constraint with cone-limited swing and angle-limited twist.
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*/
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class swing_twist_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 twist rotation limit.
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*
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* @param angle_min Minimum twist angle, in radians.
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* @param angle_max Maximum twist angle, in radians.
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*/
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void set_twist_limit(float angle_min, float angle_max);
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private:
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float m_cos_half_twist_min{ 0};
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float m_sin_half_twist_min{-1};
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float m_cos_half_twist_max{ 0};
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float m_sin_half_twist_max{ 1};
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};
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#endif // ANTKEEPER_ANIMATION_SWING_TWIST_IK_CONSTRAINT_HPP
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