| 29 | } |
| 30 | |
| 31 | void IKController::InitializeJoint(size_t j, std::shared_ptr<Spatial> const& object, |
| 32 | std::vector<size_t> const& goalIndices) |
| 33 | { |
| 34 | LogAssert(j < mJoints.size(), "Invalid index."); |
| 35 | mJoints[j].object = object.get(); |
| 36 | mJoints[j].goalIndices = goalIndices; |
| 37 | } |
| 38 | |
| 39 | void IKController::SetJointAllowTranslation(size_t j, int32_t axis, bool allow) |
| 40 | { |