From bd9405aef82575972fa3340c2907c50ac45f9601 Mon Sep 17 00:00:00 2001
From: amantley <amantley@googlemail.com>
Date: Thu, 10 Jan 2019 10:27:15 -0800
Subject: [PATCH] add arm ik class for cleanup of inverse kinematics

---
 libraries/animation/src/AnimArmIK.cpp         | 40 +++++++++++++++++++
 libraries/animation/src/AnimArmIK.h           | 34 ++++++++++++++++
 .../animation/src/AnimInverseKinematics.cpp   |  4 +-
 3 files changed, 77 insertions(+), 1 deletion(-)
 create mode 100644 libraries/animation/src/AnimArmIK.cpp
 create mode 100644 libraries/animation/src/AnimArmIK.h

diff --git a/libraries/animation/src/AnimArmIK.cpp b/libraries/animation/src/AnimArmIK.cpp
new file mode 100644
index 0000000000..202e8c8420
--- /dev/null
+++ b/libraries/animation/src/AnimArmIK.cpp
@@ -0,0 +1,40 @@
+//
+//  AnimArmIK.cpp
+//
+//  Created by Angus Antley on 1/9/19.
+//  Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "AnimArmIK.h"
+
+#include <DebugDraw.h>
+
+#include "AnimationLogging.h"
+#include "AnimUtil.h"
+
+AnimArmIK::AnimArmIK(const QString& id, float alpha, bool enabled, float interpDuration,
+    const QString& baseJointName, const QString& midJointName,
+    const QString& tipJointName, const glm::vec3& midHingeAxis,
+    const QString& alphaVar, const QString& enabledVar,
+    const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar) :
+    AnimTwoBoneIK(id, alpha, enabled, interpDuration, baseJointName, midJointName, tipJointName, midHingeAxis, alphaVar, enabledVar, endEffectorRotationVarVar, endEffectorPositionVarVar) {
+
+}
+
+AnimArmIK::~AnimArmIK() {
+
+}
+
+const AnimPoseVec& AnimArmIK::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
+    qCDebug(animation) << "evaluating the arm IK";
+
+    assert(_children.size() == 1);
+    if (_children.size() != 1) {
+        return _poses;
+    } else {
+        return _poses;
+    }
+}
\ No newline at end of file
diff --git a/libraries/animation/src/AnimArmIK.h b/libraries/animation/src/AnimArmIK.h
new file mode 100644
index 0000000000..26f79a1b9c
--- /dev/null
+++ b/libraries/animation/src/AnimArmIK.h
@@ -0,0 +1,34 @@
+//
+//  AnimArmIK.h
+//
+//  Created by Angus Antley on 1/9/19.
+//  Copyright (c) 2019 High Fidelity, Inc. All rights reserved.
+//
+//  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_AnimArmIK_h
+#define hifi_AnimArmIK_h
+
+//#include "AnimNode.h"
+#include "AnimTwoBoneIK.h"
+//#include "AnimChain.h"
+
+// Simple two bone IK chain
+class AnimArmIK : public AnimTwoBoneIK {
+public:
+    AnimArmIK(const QString& id, float alpha, bool enabled, float interpDuration,
+        const QString& baseJointName, const QString& midJointName,
+        const QString& tipJointName, const glm::vec3& midHingeAxis,
+        const QString& alphaVar, const QString& enabledVar,
+        const QString& endEffectorRotationVarVar, const QString& endEffectorPositionVarVar);
+    virtual ~AnimArmIK();
+    virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) override;
+
+protected:
+
+};
+
+#endif // hifi_AnimArmIK_h
+
diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index a1809f3438..a6dcf5b2d9 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -237,6 +237,7 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
 
         // solve all targets
         for (size_t i = 0; i < targets.size(); i++) {
+            qCDebug(animation) << "target id: " << targets[i].getIndex() << " and type " << (int)targets[i].getType();
             switch (targets[i].getType()) {
             case IKTarget::Type::Unknown:
                 break;
@@ -859,6 +860,7 @@ void AnimInverseKinematics::solveTargetWithSpline(const AnimContext& context, co
 //virtual
 const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimVariantMap& triggersOut) {
     // don't call this function, call overlay() instead
+    qCDebug(animation) << "called evaluate for inverse kinematics";
     assert(false);
     return _relativePoses;
 }
@@ -869,7 +871,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
     // disable IK on android
     return underPoses;
 #endif
-
+    qCDebug(animation) << "called overlay for inverse kinematics";
     // allows solutionSource to be overridden by an animVar
     auto solutionSource = animVars.lookup(_solutionSourceVar, (int)_solutionSource);