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Adjust min angle of knee constraint to prevent leg locks

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Anthony J. Thibault 2017-04-10 16:03:34 -07:00
parent d3b4a2c08d
commit d464020577
1 changed files with 1 additions and 1 deletions
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2
libraries/animation/src/AnimInverseKinematics.cpp
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@ -829,7 +829,7 @@ void AnimInverseKinematics::initConstraints() {
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment
const float MIN_KNEE_ANGLE = 0.0f;
const float MIN_KNEE_ANGLE = 0.097f; // ~5 deg
const float MAX_KNEE_ANGLE = 7.0f * PI / 8.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;