💿🐜 Antkeeper source code
https://antkeeper.com
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129 lines
3.2 KiB
129 lines
3.2 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_CCD_IK_SOLVER_HPP
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#define ANTKEEPER_ANIMATION_CCD_IK_SOLVER_HPP
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#include <engine/animation/ik/ik-solver.hpp>
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#include <engine/animation/bone.hpp>
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#include <vector>
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class ik_rig;
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/**
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* Cyclic Coordinate Descent (CCD) IK solver.
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*/
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class ccd_ik_solver: public ik_solver
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{
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public:
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/**
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* Constructs a CCD IK solver.
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*
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* @param ik_rig IK rig with which to associate this IK solver.
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* @param root_bone_index Index of the first bone in the bone chain.
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* @param effector_bone_index Index of the last bone in the bone chain.
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* @param chain_length Number of bones in the IK chain.
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*/
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ccd_ik_solver(ik_rig& ik_rig, bone_index_type root_bone_index, bone_index_type effector_bone_index);
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/// @name Solving
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/// @{
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void solve() override;
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/**
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* Sets the maximum number of solving iterations.
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*
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* @param iterations Maximum number of solving iterations.
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*/
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inline void set_max_iterations(std::size_t iterations) noexcept
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{
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m_max_iterations = iterations;
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}
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/// Returns the maximum number of solving iterations.
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[[nodiscard]] inline std::size_t get_max_iterations() const noexcept
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{
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return m_max_iterations;
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}
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/// @}
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/// @name Effector
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/// @{
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/**
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* Sets the position of the end effector.
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*
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* @param position Position of the end effector, relative to the tip bone.
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*/
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inline void set_effector_position(const math::fvec3& position) noexcept
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{
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m_effector_position = position;
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}
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/// Returns the position of the end effector, relative to the tip bone.
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[[nodiscard]] inline const math::fvec3& get_effector_position() const
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{
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return m_effector_position;
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}
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/// @}
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/// @name Goal
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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 IK goal center, in world-space.
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*/
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inline void set_goal_center(const math::fvec3& center) noexcept
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{
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m_goal_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 IK goal radius.
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*/
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inline void set_goal_radius(float radius) noexcept
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{
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m_sqr_goal_radius = radius * radius;
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}
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/// Returns the center of the IK goal, in world-space.
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[[nodiscard]] inline const math::fvec3& get_goal_center() const
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{
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return m_goal_center;
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}
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/// @}
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private:
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ik_rig* m_ik_rig{nullptr};
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std::size_t m_max_iterations{10};
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std::vector<bone_index_type> m_bone_indices;
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math::fvec3 m_effector_position{0.0f, 0.0f, 0.0f};
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math::fvec3 m_goal_center{0.0f, 0.0f, 0.0f};
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float m_sqr_goal_radius{1e-5f};
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};
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#endif // ANTKEEPER_ANIMATION_CCD_IK_SOLVER_HPP
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