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#rnx #rb none #ROBOMERGE-OWNER: ryan.durand #ROBOMERGE-AUTHOR: ryan.durand #ROBOMERGE-SOURCE: CL 10869210 via CL 10869511 via CL 10869900 #ROBOMERGE-BOT: (v613-10869866) [CL 10870549 by ryan durand in Main branch]
25 lines
970 B
C++
25 lines
970 B
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#include "AngularLimit.h"
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namespace AnimationCore
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{
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bool ConstrainAngularRangeUsingEuler(FQuat& InOutQuatRotation, const FQuat& InRefRotation, const FVector& InLimitMinDegrees, const FVector& InLimitMaxDegrees)
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{
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// Simple clamping of euler angles. This might be better off refactored to use switch/twist decomposition and maybe an ellipsoid clamp
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FQuat DeltaQuat = InRefRotation * InOutQuatRotation.Inverse();
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FRotator DeltaRotator = DeltaQuat.Rotator();
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FRotator NewRotator;
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NewRotator.Pitch = FMath::Clamp(DeltaRotator.Pitch, InLimitMinDegrees.Y, InLimitMaxDegrees.Y);
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NewRotator.Yaw = FMath::Clamp(DeltaRotator.Yaw, InLimitMinDegrees.X, InLimitMaxDegrees.X);
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NewRotator.Roll = FMath::Clamp(DeltaRotator.Roll, InLimitMinDegrees.Z, InLimitMaxDegrees.Z);
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DeltaQuat = FQuat(NewRotator);
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InOutQuatRotation = DeltaQuat.Inverse() * InRefRotation;
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return !NewRotator.Equals(DeltaRotator);
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}
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}
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