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69e1b8a18e
#jira UE-131667, UE-132489, UE-131666 #rb aaron.cox, braeden.shosa, cesar.castro #robomerge 5.0 #preflight 61941dbbc80d0ce51aaee5ee [CL 18213783 by koray hagen in ue5-main branch]
45 lines
2.1 KiB
C
45 lines
2.1 KiB
C
// Copyright Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "Containers/ArrayView.h"
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#include "Engine/SpringInterpolator.h"
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#include "UObject/ObjectMacros.h"
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#include "BoneControllerSolvers.generated.h"
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USTRUCT(BlueprintInternalUseOnly)
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struct ANIMGRAPHRUNTIME_API FIKFootPelvisPullDownSolver
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{
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GENERATED_BODY()
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// Specifies the spring interpolation parameters applied during pelvis adjustment
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UPROPERTY(EditAnywhere, Category = Settings)
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FVectorRK4SpringInterpolator PelvisAdjustmentInterp;
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// Specifies an alpha between the original and final adjusted pelvis locations
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// This is used to retain some degree of the original pelvis motion
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UPROPERTY(EditAnywhere, Category=Settings, meta=(ClampMin="0.0", ClampMax="1.0"))
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float PelvisAdjustmentInterpAlpha = 0.5f;
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// Specifies the maximum displacement the pelvis can be adjusted relative to its original location
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UPROPERTY(EditAnywhere, Category=Settings, meta=(ClampMin="0.0"))
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float PelvisAdjustmentMaxDistance = 10.f;
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// Specifies the pelvis adjustment distance error that is tolerated for each iteration of the solver
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//
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// When it is detected that the pelvis adjustment distance is incrementing at a value lower or equal
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// to this value for each iteration, the solve will halt. Lower values will marginally increase visual
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// quality at the cost of performance, but may require a higher PelvisAdjustmentMaxIter to be specified
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//
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// The default value of 0.01 specifies 1 centimeter of error
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UPROPERTY(EditAnywhere, Category=Advanced, meta=(ClampMin="0.001"))
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float PelvisAdjustmentErrorTolerance = 0.01f;
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// Specifies the maximum number of iterations to run for the pelvis adjustment solver
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// Higher iterations will guarantee closer PelvisAdjustmentErrorTolerance convergence at the cost of performance
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UPROPERTY(EditAnywhere, Category=Advanced, meta=(ClampMin="0"))
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int32 PelvisAdjustmentMaxIter = 3;
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// Iteratively pulls the character pelvis towards the ground based on the relationship of driven IK foot targets versus FK foot limits
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FTransform Solve(FTransform PelvisTransform, TArrayView<const float> FKFootDistancesToPelvis, TArrayView<const FVector> IKFootLocations, float DeltaTime);
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}; |