| 55 | } |
| 56 | |
| 57 | void IKController::SetJointAllowRotation(size_t j, int32_t axis, bool allow) |
| 58 | { |
| 59 | LogAssert(j < mJoints.size() && 0 <= axis && axis < 3, "Invalid input."); |
| 60 | mJoints[j].allowRotation[axis] = allow; |
| 61 | } |
| 62 | |
| 63 | void IKController::SetJointMinRotation(size_t j, int32_t axis, float minRotation) |
| 64 | { |