HumanoidMocap/Core/Motion/ArmSettings.cs
A simple data container for arm kinematics settings used by the HumanoidMocap motion system. It stores shoulder and elbow target positions, upper arm and forearm lengths, reach limit, and min/max elbow bend angles.
using System;
using System.Numerics;
using HumanoidMocap.Core.Maths;
namespace HumanoidMocap.Core.Motion;
using Vector3 = System.Numerics.Vector3;
public sealed class ArmSettings
{
public Vector3 Shoulder { get; set; } = new(.18f,-.15f,0);
public Vector3 ElbowTarget { get; set; } = new(.4f,-.4f,.2f);
public float UpperLength { get; set; } = .28f;
public float ForearmLength { get; set; } = .25f;
public float MaximumReach { get; set; } = .995f;
public float MinimumElbowDegrees { get; set; } = 5;
public float MaximumElbowDegrees { get; set; } = 155;
}