diff options
| author | Benoit Bolsee <benoit.bolsee@online.be> | 2010-03-10 01:44:03 +0300 |
|---|---|---|
| committer | Benoit Bolsee <benoit.bolsee@online.be> | 2010-03-10 01:44:03 +0300 |
| commit | a999e24a14bb9cd474feb1a1a0a85bd056d29d95 (patch) | |
| tree | 17b47d7a47b35912caace91c167ef635376e67b3 /intern/itasc | |
| parent | 4c8dab48c5862f2ea742a47c8183d378adece05e (diff) | |
iTaSC: joint limit are now given directly in radiant, no need to convert.
Diffstat (limited to 'intern/itasc')
| -rw-r--r-- | intern/itasc/Armature.cpp | 5 |
1 files changed, 0 insertions, 5 deletions
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp index 7776b6aa3b6..46d114e6c3f 100644 --- a/intern/itasc/Armature.cpp +++ b/intern/itasc/Armature.cpp @@ -340,11 +340,6 @@ int Armature::addLimitConstraint(const std::string& segment_name, unsigned int d } if ((joint.getNDof() == 1 && dof > 0) || (joint.getNDof() == 2 && dof > 1)) return -1; - if (joint.getType() < Joint::TransX || joint.getType() == Joint::Swing) { - // for rotation joint, the limit is given in degree, convert to radian - _min *= KDL::deg2rad; - _max *= KDL::deg2rad; - } Joint_struct& p_joint = m_joints[segment_it->second.q_nr+dof]; p_joint.min = _min; p_joint.max = _max; |