/// <summary>
/// Determines whether the constraint is fulflled
/// </summary>
/// <param name="desiredRotation"></param>
/// <param name="currentRotation"></param>
/// <param name="rotationConstraint"></param>
/// <returns></returns>
private bool IsFulfilled(MQuaternion desiredRotation, MQuaternion currentRotation, MRotationConstraint rotationConstraint)
{
//By default return true -> It is assumed that interval is [-inv,+inv]
if (rotationConstraint == null)
{
return(true);
}
MVector3 currentRotationEuler = MQuaternionExtensions.ToEuler(currentRotation);
//Determine the global min and max coordinate
MVector3 min = new MVector3(rotationConstraint.Limits.X.Min, rotationConstraint.Limits.Y.Min, rotationConstraint.Limits.Z.Min).Add(currentRotationEuler);
MVector3 max = new MVector3(rotationConstraint.Limits.X.Max, rotationConstraint.Limits.Y.Max, rotationConstraint.Limits.Z.Max).Add(currentRotationEuler);
return(currentRotationEuler.X >= min.X && currentRotationEuler.Y >= min.Y && currentRotationEuler.Z >= min.Z && currentRotationEuler.X <= max.X && currentRotationEuler.Y <= max.Y && currentRotationEuler.Z <= max.Z);
}