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formel hinzugefügt

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This commit is contained in:
fruitstaa 2018-06-20 12:12:24 +02:00
parent d3e440aeea
commit 823587a538
2 changed files with 6 additions and 1 deletions
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2
CGII/src/IKViewer.cpp
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@ -178,7 +178,7 @@ void IKViewer::calculate_kinematic_chain(Bone *base, Bone *endeffector)
} }
else else
{ {
// can't ever happen, but when it does, we will know // can never happen, but when it does, we will know
abort(); abort();
} }
} }

5
Formel_nachR Normal file
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@ -0,0 +1,5 @@
(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl = xs
(z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl = ys
(-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl = zs
(cos((r*pi)/180)+x²*(1-cos(r*pi)/180))*xl+(-z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*yl+(y*sin((r*pi)/180)+z*x*(1-cos(r*pi)/180))*zl)-xt)²+((z*sin((r*pi)/180)+x*y*(1-cos(r*pi)/180))*xl+(cos((r*pi)/180)+y²*(1-cos(r*pi)/180))*yl+(-x*sin((r*pi)/180)+z*y*(1-cos(r*pi)/180))*zl-yt)²+((-y*sin((r*pi)/180)+x*z*(1-cos(r*pi)/180))*xl+(x*sin((r*pi)/180)+y*z(1-cos(r*pi)/180))*yl+(cos((r*pi)/180)+z²*(1-cos(r*pi)/180))*zl-zt)²