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95 lines
3.2 KiB
C++
95 lines
3.2 KiB
C++
//
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// AnimInverseKinematics.h
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//
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// Copyright 2015 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#ifndef hifi_AnimInverseKinematics_h
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#define hifi_AnimInverseKinematics_h
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#include <string>
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#include <map>
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#include <vector>
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#include "AnimNode.h"
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#include "IKTarget.h"
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#include "RotationAccumulator.h"
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class RotationConstraint;
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class AnimInverseKinematics : public AnimNode {
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public:
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explicit AnimInverseKinematics(const QString& id);
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virtual ~AnimInverseKinematics() override;
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void loadDefaultPoses(const AnimPoseVec& poses);
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void loadPoses(const AnimPoseVec& poses);
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void computeAbsolutePoses(AnimPoseVec& absolutePoses) const;
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void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, const QString& typeVar);
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virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) override;
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virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
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void clearIKJointLimitHistory();
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protected:
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void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
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void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
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int solveTargetWithCCD(const IKTarget& target, AnimPoseVec& absolutePoses);
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virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton) override;
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// for AnimDebugDraw rendering
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virtual const AnimPoseVec& getPosesInternal() const override { return _relativePoses; }
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RotationConstraint* getConstraint(int index);
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void clearConstraints();
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void initConstraints();
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// no copies
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AnimInverseKinematics(const AnimInverseKinematics&) = delete;
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AnimInverseKinematics& operator=(const AnimInverseKinematics&) = delete;
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struct IKTargetVar {
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IKTargetVar(const QString& jointNameIn,
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const QString& positionVarIn,
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const QString& rotationVarIn,
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const QString& typeVarIn) :
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positionVar(positionVarIn),
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rotationVar(rotationVarIn),
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typeVar(typeVarIn),
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jointName(jointNameIn),
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jointIndex(-1)
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{}
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QString positionVar;
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QString rotationVar;
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QString typeVar;
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QString jointName;
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int jointIndex; // cached joint index
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};
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std::map<int, RotationConstraint*> _constraints;
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std::vector<RotationAccumulator> _accumulators;
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std::vector<IKTargetVar> _targetVarVec;
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AnimPoseVec _defaultRelativePoses; // poses of the relaxed state
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AnimPoseVec _relativePoses; // current relative poses
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// experimental data for moving hips during IK
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glm::vec3 _hipsOffset { Vectors::ZERO };
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int _headIndex { -1 };
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int _hipsIndex { -1 };
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int _hipsParentIndex { -1 };
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// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
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// during the the cyclic coordinate descent algorithm
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int _maxTargetIndex { 0 };
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};
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#endif // hifi_AnimInverseKinematics_h
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