diff options
Diffstat (limited to 'intern')
| -rw-r--r-- | intern/iksolver/intern/IK_QSegment.cpp | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/intern/iksolver/intern/IK_QSegment.cpp b/intern/iksolver/intern/IK_QSegment.cpp index c52f1e596b9..b84f11a03e2 100644 --- a/intern/iksolver/intern/IK_QSegment.cpp +++ b/intern/iksolver/intern/IK_QSegment.cpp @@ -368,21 +368,21 @@ void IK_QSphericalSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax) return; if (axis == 1) { - lmin = MT_clamp(lmin, -180, 180); - lmax = MT_clamp(lmax, -180, 180); + lmin = MT_clamp(lmin, -M_PI, M_PI); + lmax = MT_clamp(lmax, -M_PI, M_PI); - m_min_y = MT_radians(lmin); - m_max_y = MT_radians(lmax); + m_min_y = lmin; + m_max_y = lmax; m_limit_y = true; } else { // clamp and convert to axis angle parameters - lmin = MT_clamp(lmin, -180, 180); - lmax = MT_clamp(lmax, -180, 180); + lmin = MT_clamp(lmin, -M_PI, M_PI); + lmax = MT_clamp(lmax, -M_PI, M_PI); - lmin = sin(MT_radians(lmin)*0.5); - lmax = sin(MT_radians(lmax)*0.5); + lmin = sin(lmin*0.5); + lmax = sin(lmax*0.5); if (axis == 0) { m_min[0] = -lmax; @@ -611,11 +611,11 @@ void IK_QRevoluteSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax) return; // clamp and convert to axis angle parameters - lmin = MT_clamp(lmin, -180, 180); - lmax = MT_clamp(lmax, -180, 180); + lmin = MT_clamp(lmin, -M_PI, M_PI); + lmax = MT_clamp(lmax, -M_PI, M_PI); - m_min = MT_radians(lmin); - m_max = MT_radians(lmax); + m_min = lmin; + m_max = lmax; m_limit = true; } @@ -750,11 +750,11 @@ void IK_QSwingSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax) return; // clamp and convert to axis angle parameters - lmin = MT_clamp(lmin, -180, 180); - lmax = MT_clamp(lmax, -180, 180); + lmin = MT_clamp(lmin, -M_PI, M_PI); + lmax = MT_clamp(lmax, -M_PI, M_PI); - lmin = sin(MT_radians(lmin)*0.5); - lmax = sin(MT_radians(lmax)*0.5); + 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); @@ -896,11 +896,11 @@ void IK_QElbowSegment::SetLimit(int axis, MT_Scalar lmin, MT_Scalar lmax) return; // clamp and convert to axis angle parameters - lmin = MT_clamp(lmin, -180, 180); - lmax = MT_clamp(lmax, -180, 180); + lmin = MT_clamp(lmin, -M_PI, M_PI); + lmax = MT_clamp(lmax, -M_PI, M_PI); - lmin = MT_radians(lmin); - lmax = MT_radians(lmax); + lmin = lmin; + lmax = lmax; if (axis == 1) { m_min_twist = lmin; |