CCDIKSolver: Fix limitation handling.#33386
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Fixed #25338.
Description
The PR fixes a sign-loss bug in
CCDIKSolver's limitation handling. The previous code rebuilt the quaternion using√(1−w²), which is always non-negative, so any rotation past 0° around the limitation axis got mirrored to the positive side (you can clearly see this buggy behavior in #25338 (comment)).The PR projects the quaternion's vector part onto the limitation axis and preserves that sign, so negative rotations stay negative. This restores the expected +-range when
limitationis combined withrotationMin/rotationMax.I've migrated the old example code so it was possible to do a test and with the fix in place. The demo works now as expected.
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