| 20 | } |
| 21 | |
| 22 | void IKController::InitializeGoal(size_t g, std::shared_ptr<Spatial> const& target, |
| 23 | std::shared_ptr<Spatial> const& effector, float weight) |
| 24 | { |
| 25 | LogAssert(g < mGoals.size(), "Invalid index."); |
| 26 | mGoals[g].target = target.get(); |
| 27 | mGoals[g].effector = effector.get(); |
| 28 | mGoals[g].weight = weight; |
| 29 | } |
| 30 | |
| 31 | void IKController::InitializeJoint(size_t j, std::shared_ptr<Spatial> const& object, |
| 32 | std::vector<size_t> const& goalIndices) |