Add orientation constraint to IK.

2016-09-19 17:04:05 -07:00
parent 48d42c7c6e
commit bf16c87987
11 changed files with 125 additions and 47 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -69,6 +69,7 @@ public:
 	void CalcDeltaThetasDLS();
 	void CalcDeltaThetasDLSwithSVD();
 	void CalcDeltaThetasSDLS();
+    void CalcThetasDotDLS(float dt);

 	void UpdateThetas();
 	double UpdateErrorArray(VectorR3* targets);		// Returns sum of errors