💿🐜 Antkeeper source code
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70 lines
1.9 KiB
70 lines
1.9 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_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP
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#define ANTKEEPER_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP
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#include <engine/math/vector.hpp>
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#include <engine/animation/pose.hpp>
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#include <engine/animation/locomotion/gait.hpp>
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#include <memory>
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#include <vector>
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/**
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* Legged terrestrial locomotion.
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*/
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struct legged_locomotion_component
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{
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/// Force vector.
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math::fvec3 force{0.0f, 0.0f, 0.0f};
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const pose* midstance_pose{};
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const pose* midswing_pose{};
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const pose* liftoff_pose{};
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const pose* touchdown_pose{};
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/// Indices of the the final bones in the legs.
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std::vector<bone_index_type> tip_bones;
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bone_index_type body_bone{};
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/// Number of bones per leg.
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std::uint8_t leg_bone_count{};
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std::shared_ptr<::gait> gait;
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float standing_height{};
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/// Distance covered in a single gait cycle.
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float stride_length{};
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/// Maximum angular frequency when turning, in radians per second.
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float max_angular_frequency{};
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float speed{};
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float angular_velocity{};
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math::fvec3 target_direction{};
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/// Current phase of the gait cycle, on `[0, 1]`.
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float gait_phase{};
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};
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#endif // ANTKEEPER_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP
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