void IK_QSwingSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax)
{
if (lmin >= lmax)
return;
// clamp and convert to axis angle parameters
lmin = MT_clamp(lmin, -MT_PI, MT_PI);
lmax = MT_clamp(lmax, -MT_PI, MT_PI);
lmin = sin(lmin*0.5);
lmax = sin(lmax*0.5);
// put center of ellispe in the middle between min and max
MT_Scalar offset = 0.5*(lmin + lmax);
//lmax = lmax - offset;
if (axis == 0) {
m_min[0] = -lmax;
m_max[0] = -lmin;
m_limit_x = true;
m_offset_x = offset;
m_max_x = lmax;
}
else if (axis == 2) {
m_min[1] = -lmax;
m_max[1] = -lmin;
m_limit_z = true;
m_offset_z = offset;
m_max_z = lmax;
}
}
void IK_QSphericalSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax)
{
if (lmin >= lmax)
return;
if (axis == 1) {
lmin = MT_clamp(lmin, -MT_PI, MT_PI);
lmax = MT_clamp(lmax, -MT_PI, MT_PI);
m_min_y = lmin;
m_max_y = lmax;
m_limit_y = true;
}
else {
// clamp and convert to axis angle parameters
lmin = MT_clamp(lmin, -MT_PI, MT_PI);
lmax = MT_clamp(lmax, -MT_PI, MT_PI);
lmin = sin(lmin*0.5);
lmax = sin(lmax*0.5);
if (axis == 0) {
m_min[0] = -lmax;
m_max[0] = -lmin;
m_limit_x = true;
}
else if (axis == 2) {
m_min[1] = -lmax;
m_max[1] = -lmin;
m_limit_z = true;
}
}
}
void IK_QRevoluteSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax)
{
if (lmin >= lmax || m_axis != axis)
return;
// clamp and convert to axis angle parameters
lmin = MT_clamp(lmin, -MT_PI, MT_PI);
lmax = MT_clamp(lmax, -MT_PI, MT_PI);
m_min = lmin;
m_max = lmax;
m_limit = true;
}
void IK_QElbowSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax)
{
if (lmin > lmax)
return;
// clamp and convert to axis angle parameters
lmin = MT_clamp(lmin, -MT_PI, MT_PI);
lmax = MT_clamp(lmax, -MT_PI, MT_PI);
if (axis == 1) {
m_min_twist = lmin;
m_max_twist = lmax;
m_limit_twist = true;
}
else if (axis == m_axis) {
m_min = lmin;
m_max = lmax;
m_limit = true;
}
}
