💿🐜 Antkeeper source code
https://antkeeper.com
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89 lines
2.1 KiB
89 lines
2.1 KiB
/*
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* Copyright (C) 2023 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ANTKEEPER_ANIMATION_IK_GOAL_HPP
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#define ANTKEEPER_ANIMATION_IK_GOAL_HPP
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#include <engine/animation/ik/ik-solver.hpp>
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#include <engine/math/vector.hpp>
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#include <memory>
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/**
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* IK goal.
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*/
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class ik_goal
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{
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public:
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/**
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* Sets the solver of the IK goal.
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*
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* @param solver Goal solver.
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*/
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inline void set_solver(std::shared_ptr<ik_solver> solver) noexcept
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{
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m_solver = solver;
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}
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/**
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* Sets the center of the IK goal.
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*
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* @param center Goal center, in world-space.
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*/
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inline void set_center(const math::fvec3& center) noexcept
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{
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m_center = center;
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}
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/**
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* Sets the radius of the IK goal.
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*
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* @param radius Goal radius.
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*/
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inline void set_radius(float radius) noexcept
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{
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m_radius = radius;
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m_sqr_radius = m_sqr_radius * m_sqr_radius;
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}
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/// Returns the solver of the IK goal.
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[[nodiscard]] inline const std::shared_ptr<ik_solver>& get_solver() const noexcept
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{
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return m_solver;
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}
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/// Returns the center of the IK goal.
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[[nodiscard]] inline const math::fvec3& get_center() const noexcept
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{
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return m_center;
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}
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/// Returns the radius of the IK goal.
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[[nodiscard]] inline float get_radius() const noexcept
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{
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return m_radius;
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}
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private:
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std::shared_ptr<ik_solver> m_solver;
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math::fvec3 m_center{};
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float m_radius{1e-3f};
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float m_sqr_radius{1e-6f};
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};
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#endif // ANTKEEPER_ANIMATION_IK_GOAL_HPP
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