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#rnx #rb none #ROBOMERGE-OWNER: ryan.durand #ROBOMERGE-AUTHOR: ryan.durand #ROBOMERGE-SOURCE: CL 10869210 via CL 10869511 via CL 10869900 #ROBOMERGE-BOT: (v613-10869866) [CL 10870549 by ryan durand in Main branch]
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "CoreMinimal.h"
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#include "UObject/ObjectMacros.h"
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#include "BoneIndices.h"
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#include "CCDIK.generated.h"
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/** Transient structure for CCDIK node evaluation */
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USTRUCT()
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struct FCCDIKChainLink
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{
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GENERATED_USTRUCT_BODY()
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public:
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/** Transform of bone in component space. */
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FTransform Transform;
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/** Transform of bone in local space. This is mutable as their component space changes or parents*/
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FTransform LocalTransform;
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/** Transform Index that this control will output */
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int32 TransformIndex;
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/** Child bones which are overlapping this bone.
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* They have a zero length distance, so they will inherit this bone's transformation. */
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TArray<int32> ChildZeroLengthTransformIndices;
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float CurrentAngleDelta;
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FCCDIKChainLink()
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: TransformIndex(INDEX_NONE)
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, CurrentAngleDelta(0.f)
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{
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}
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FCCDIKChainLink(const FTransform& InTransform, const FTransform& InLocalTransform, const int32& InTransformIndex)
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: Transform(InTransform)
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, LocalTransform(InLocalTransform)
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, TransformIndex(InTransformIndex)
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, CurrentAngleDelta(0.f)
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{
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}
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};
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namespace AnimationCore
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{
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ANIMATIONCORE_API bool SolveCCDIK(TArray<FCCDIKChainLink>& InOutChain, const FVector& TargetPosition, float Precision, int32 MaxIteration, bool bStartFromTail, bool bEnableRotationLimit, const TArray<float>& RotationLimitPerJoints);
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};
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