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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]
94 lines
3.5 KiB
C++
94 lines
3.5 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 "BoneContainer.h"
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#include "BonePose.h"
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#include "BoneControllers/AnimNode_SkeletalControlBase.h"
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#include "AnimNode_Fabrik.generated.h"
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class FPrimitiveDrawInterface;
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class USkeletalMeshComponent;
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/**
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* Controller which implements the FABRIK IK approximation algorithm - see http://www.academia.edu/9165835/FABRIK_A_fast_iterative_solver_for_the_Inverse_Kinematics_problem for details
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*/
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USTRUCT(BlueprintInternalUseOnly)
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struct ANIMGRAPHRUNTIME_API FAnimNode_Fabrik : public FAnimNode_SkeletalControlBase
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{
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GENERATED_USTRUCT_BODY()
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/** Coordinates for target location of tip bone - if EffectorLocationSpace is bone, this is the offset from Target Bone to use as target location*/
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = EndEffector, meta = (PinShownByDefault))
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FTransform EffectorTransform;
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/** If EffectorTransformSpace is a bone, this is the bone to use. **/
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UPROPERTY(EditAnywhere, Category = EndEffector)
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FBoneSocketTarget EffectorTarget;
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/** Name of tip bone */
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UPROPERTY(EditAnywhere, Category = Solver)
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FBoneReference TipBone;
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/** Name of the root bone*/
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UPROPERTY(EditAnywhere, Category = Solver)
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FBoneReference RootBone;
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/** Tolerance for final tip location delta from EffectorLocation*/
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UPROPERTY(EditAnywhere, Category = Solver)
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float Precision;
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/** Maximum number of iterations allowed, to control performance. */
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UPROPERTY(EditAnywhere, Category = Solver)
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int32 MaxIterations;
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/** Reference frame of Effector Transform. */
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UPROPERTY(EditAnywhere, Category = EndEffector)
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TEnumAsByte<enum EBoneControlSpace> EffectorTransformSpace;
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UPROPERTY(EditAnywhere, Category = EndEffector)
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TEnumAsByte<enum EBoneRotationSource> EffectorRotationSource;
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#if WITH_EDITORONLY_DATA
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/** Toggle drawing of axes to debug joint rotation*/
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UPROPERTY(EditAnywhere, Category = Solver)
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bool bEnableDebugDraw;
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/** If EffectorTransformSpace is a bone, this is the bone to use. **/
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UPROPERTY()
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FBoneReference EffectorTransformBone_DEPRECATED;
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#endif
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public:
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FAnimNode_Fabrik();
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// FAnimNode_Base interface
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virtual void GatherDebugData(FNodeDebugData& DebugData) override;
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virtual void Initialize_AnyThread(const FAnimationInitializeContext& Context) override;
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// End of FAnimNode_Base interface
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// FAnimNode_SkeletalControlBase interface
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virtual void EvaluateSkeletalControl_AnyThread(FComponentSpacePoseContext& Output, TArray<FBoneTransform>& OutBoneTransforms) override;
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virtual bool IsValidToEvaluate(const USkeleton* Skeleton, const FBoneContainer& RequiredBones) override;
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// End of FAnimNode_SkeletalControlBase interface
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virtual void ConditionalDebugDraw(FPrimitiveDrawInterface* PDI, USkeletalMeshComponent* PreviewSkelMeshComp) const;
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private:
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// FAnimNode_SkeletalControlBase interface
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virtual void InitializeBoneReferences(const FBoneContainer& RequiredBones) override;
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// End of FAnimNode_SkeletalControlBase interface
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// Convenience function to get current (pre-translation iteration) component space location of bone by bone index
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FVector GetCurrentLocation(FCSPose<FCompactPose>& MeshBases, const FCompactPoseBoneIndex& BoneIndex);
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static FTransform GetTargetTransform(const FTransform& InComponentTransform, FCSPose<FCompactPose>& MeshBases, FBoneSocketTarget& InTarget, EBoneControlSpace Space, const FTransform& InOffset);
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#if WITH_EDITORONLY_DATA
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// Cached CS location when in editor for debug drawing
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FTransform CachedEffectorCSTransform;
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#endif
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};
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