public static TwistSwingConstraint MakeFromRadians(CartesianAxis twistAxis, Vector3 min, Vector3 max)
{
var twistConstraint = TwistConstraint.MakeFromRadians(twistAxis, min, max);
var swingConstraint = SwingConstraint.MakeFromRadians(twistAxis, min, max);
return(new TwistSwingConstraint(twistConstraint, swingConstraint));
}
public void TestTest()
{
var constraint = new TwistConstraint(-0.1f, +0.2f);
Assert.IsTrue(constraint.Test(new Twist(-0.09f)));
Assert.IsFalse(constraint.Test(new Twist(-0.11f)));
Assert.IsTrue(constraint.Test(new Twist(+0.19f)));
Assert.IsFalse(constraint.Test(new Twist(+0.21f)));
}
public void TestClamp()
{
var constraint = new TwistConstraint(-0.1f, +0.2f);
MathAssert.AreEqual(new Twist(-0.09f), constraint.Clamp(new Twist(-0.09f)), Acc);
MathAssert.AreEqual(new Twist(-0.10f), constraint.Clamp(new Twist(-0.11f)), Acc);
MathAssert.AreEqual(new Twist(+0.19f), constraint.Clamp(new Twist(+0.19f)), Acc);
MathAssert.AreEqual(new Twist(+0.20f), constraint.Clamp(new Twist(+0.20f)), Acc);
}
public TwistSwingConstraint(TwistConstraint twistConstraint, SwingConstraint swingConstraint)
{
this.twistConstraint = twistConstraint;
this.swingConstraint = swingConstraint;
}
