joint limits in Inverse kinematcic question

[dreamvig]

Hi,
in fact my question not exactelly in c++, but i want idea in algorithm
i have kinematic chain with 5 joints
i apply specific IK, that claculate new position if the joints (and not tge angle as the other IK methods)
So in each iteration, i found new position of the joints until the end effector reach the traget

Now , i have to introduce the joint limits (for example, the joint 2 must do not exceeds 45)
my problem is that i do not know where exactelly i introduce those limits is
1- in each iteration , when i calculate all the joints position , then i make my tests? or i each iteration, when i calculate each joint i made the test?

[dreamvig]

In fact i get the answer
as i see , i must apply the "joint limits algorithm" in ech iteration and in each time i calculate new joint

[MutantJohn]

Ew, this looks like mechanical engineering.

[dreamvig]

Ew, this looks like mechanical engineering.

no it's not but we can use it in mechanical engineering