C++ (Cpp) RigidTransform::mulInverse Examples

Example #1

File: IK.cpp Project: camall3n/KrisLibrary

void IKGoal::RemoveRotationAxis(const Vector3& p,const Vector3& axis)
{
  switch(rotConstraint) {
  case 0: //done
    break;
  case 1: //single-axis rotation
    FatalError("TODO - set dual-axis rotation");
    break;
  case 2: //dual-axis rotation
    //if one of the axes are parallel to the normal, all is well
    FatalError("TODO - dual-axis rotation isn't implemented");
    break;
  case 3: //fixed rotation
    //allow it to rotate about the cp normal
    {
      Vector3 locAxis;
      Vector3 locPos;
      RigidTransform T;
      GetFixedGoalTransform(T);
      T.R.mulTranspose(axis,locAxis);
      T.mulInverse(p,locPos);
      SetAxisRotation(locAxis,axis);
      localPosition = locPos;
      endPosition = p;
    }
    break;
  }
}