internal void AddIkJointToEndEffector(string ikJointName, string endEffectorName)
{
IKEndEffector endEffector = GetEndEffector(endEffectorName);
IKJoint ikJoint = GetIkJoint(ikJointName);
endEffector.AppendIkJointIndex(ikJoint.Index);
}
internal IKJoint MakeIkJoint(string jointName)
{
if (IkJointExists(jointName))
{
throw new ValueException("IKArmature::max_ik_joint() : the joint with the given name is already an IK joint");
}
Joint joint = restArmature.GetJoint(jointName);
IKJoint ikJoint = new IKJoint(joint.Name, joint.Index);
ikJointsByIndex[joint.Index] = ikJoint;
ikJointsByName[joint.Name] = ikJoint;
return(ikJoint);
}
internal IKJoint MakeIkJoint(int jointIndex)
{
if (IkJointExists(jointIndex))
{
throw new ValueException("IKArmature::max_ik_joint() : the joint with the given index is already an IK joint");
}
Joint joint = restArmature.GetJoint(jointIndex);
IKJoint r = new IKJoint(joint.Name, jointIndex);
ikJointsByIndex[jointIndex] = r;
ikJointsByName[joint.Name] = r;
return(r);
}