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3D Game Engine Design, 2nd Edition
book

3D Game Engine Design, 2nd Edition

by David Eberly
November 2006
Intermediate to advanced content levelIntermediate to advanced
1040 pages
26h 31m
English
CRC Press
Content preview from 3D Game Engine Design, 2nd Edition
5.3 Inverse Kinematics 345
then the end effector position is updated to F = E + clamp{T , t
min
, t
max
},where
clamp{T , t
min
, t
max
}=
t
max
, T>t
max
T , T [t
min
, t
max
]
t
min
, T<t
min
Slide to Line
Let the goal be G(s) = G
0
+ sG
1
for s R and where |G
1
|=1. If the goal line is
parallel to the direction of sliding, U × G
1
= 0, then no updating of E is necessary.
Otherwise, the lines are not parallel and the closest point on the ray containing E with
direction U is H = E + T U,whereT 0 (see Section 14.1.2). The update of E in the
previous subsection on sliding to a point can now be applied using H.
Slide to Plane
Let the goal be M
.
X = c,whereM is unit length. If the goal plane is parallel to the
direction of sliding, M
.
U = 0, then no updating of E is necessar ...
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Publisher Resources

ISBN: 9781482267303