overte-HifiExperiments/libraries/animation/src/AnimInverseKinematics.h
Anthony J. Thibault 0018224fef moar warning fixes
2017-05-17 16:23:39 -07:00

123 lines
4.7 KiB
C++

//
// AnimInverseKinematics.h
//
// Copyright 2015 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_AnimInverseKinematics_h
#define hifi_AnimInverseKinematics_h
#include <string>
#include <map>
#include <vector>
#include "AnimNode.h"
#include "IKTarget.h"
#include "RotationAccumulator.h"
class RotationConstraint;
class AnimInverseKinematics : public AnimNode {
public:
explicit AnimInverseKinematics(const QString& id);
virtual ~AnimInverseKinematics() override;
void loadDefaultPoses(const AnimPoseVec& poses);
void loadPoses(const AnimPoseVec& poses);
void computeAbsolutePoses(AnimPoseVec& absolutePoses) const;
void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients);
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override;
virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
void clearIKJointLimitHistory();
void setMaxHipsOffsetLength(float maxLength);
float getMaxErrorOnLastSolve() { return _maxErrorOnLastSolve; }
enum class SolutionSource {
RelaxToUnderPoses = 0,
RelaxToLimitCenterPoses,
PreviousSolution,
UnderPoses,
LimitCenterPoses,
NumSolutionSources,
};
void setSolutionSource(SolutionSource solutionSource) { _solutionSource = solutionSource; }
void setSolutionSourceVar(const QString& solutionSourceVar) { _solutionSourceVar = solutionSourceVar; }
protected:
void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
int solveTargetWithCCD(const IKTarget& target, AnimPoseVec& absolutePoses);
virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
void debugDrawConstraints(const AnimContext& context) const;
void initRelativePosesFromSolutionSource(SolutionSource solutionSource, const AnimPoseVec& underPose);
void blendToPoses(const AnimPoseVec& targetPoses, const AnimPoseVec& underPose, float blendFactor);
// for AnimDebugDraw rendering
virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
RotationConstraint* getConstraint(int index) const;
void clearConstraints();
void initConstraints();
void initLimitCenterPoses();
void computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt);
// no copies
AnimInverseKinematics(const AnimInverseKinematics&) = delete;
AnimInverseKinematics& operator=(const AnimInverseKinematics&) = delete;
enum FlexCoefficients { MAX_FLEX_COEFFICIENTS = 10 };
struct IKTargetVar {
IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn);
IKTargetVar(const IKTargetVar& orig);
QString jointName;
QString positionVar;
QString rotationVar;
QString typeVar;
QString weightVar;
float weight;
float flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t numFlexCoefficients;
int jointIndex; // cached joint index
};
std::map<int, RotationConstraint*> _constraints;
std::vector<RotationAccumulator> _accumulators;
std::vector<IKTargetVar> _targetVarVec;
AnimPoseVec _defaultRelativePoses; // poses of the relaxed state
AnimPoseVec _relativePoses; // current relative poses
AnimPoseVec _limitCenterPoses; // relative
// experimental data for moving hips during IK
glm::vec3 _hipsOffset { Vectors::ZERO };
float _maxHipsOffsetLength{ FLT_MAX };
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };
int _hipsTargetIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm
int _maxTargetIndex { 0 };
float _maxErrorOnLastSolve { FLT_MAX };
bool _previousEnableDebugIKTargets { false };
SolutionSource _solutionSource { SolutionSource::RelaxToUnderPoses };
QString _solutionSourceVar;
};
#endif // hifi_AnimInverseKinematics_h