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//Tasks/Fortnite/Dev-UEA-ControlRig/Engine/...
to //Fortnite/Main/Engine/...
Original CL: 6081637
#jira: UEA-490
#rb lina.halper
#ROBOMERGE-SOURCE: CL 6098916 via CL 6100686
[CL 6100754 by helge mathee in Main branch]
95 lines
2.7 KiB
C++
95 lines
2.7 KiB
C++
// Copyright 1998-2019 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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struct FBoneContainer;
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/**
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* Controller which implements the FABRIK IK approximation algorithm - see http://andreasaristidou.com/publications/FABRIK.pdf for details
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*/
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/** Transient structure for FABRIK node evaluation */
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/** Transient structure for FABRIK node evaluation */
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struct FABRIKChainLink
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{
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public:
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/** Position of bone in component space. */
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FVector Position;
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/** Distance to its parent link. */
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float Length;
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/** Bone Index in SkeletalMesh */
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int32 BoneIndex;
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/** Transform Index that this control will output */
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int32 TransformIndex;
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/** Default Direction to Parent */
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FVector DefaultDirToParent;
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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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FABRIKChainLink()
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: Position(FVector::ZeroVector)
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, Length(0.f)
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, BoneIndex(INDEX_NONE)
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, TransformIndex(INDEX_NONE)
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, DefaultDirToParent(FVector(-1.f, 0.f, 0.f))
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{
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}
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FABRIKChainLink(const FVector& InPosition, const float InLength, const FCompactPoseBoneIndex& InBoneIndex, const int32& InTransformIndex)
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: Position(InPosition)
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, Length(InLength)
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, BoneIndex(InBoneIndex.GetInt())
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, TransformIndex(InTransformIndex)
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, DefaultDirToParent(FVector(-1.f, 0.f, 0.f))
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{
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}
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FABRIKChainLink(const FVector& InPosition, const float InLength, const FCompactPoseBoneIndex& InBoneIndex, const int32& InTransformIndex, const FVector& InDefaultDirToParent)
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: Position(InPosition)
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, Length(InLength)
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, BoneIndex(InBoneIndex.GetInt())
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, TransformIndex(InTransformIndex)
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, DefaultDirToParent(InDefaultDirToParent)
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{
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}
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FABRIKChainLink(const FVector& InPosition, const float InLength, const int32 InBoneIndex, const int32 InTransformIndex)
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: Position(InPosition)
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, Length(InLength)
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, BoneIndex(InBoneIndex)
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, TransformIndex(InTransformIndex)
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, DefaultDirToParent(FVector(-1.f, 0.f, 0.f))
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{
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}
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static ANIMATIONCORE_API FVector GetDirectionToParent(const FBoneContainer& BoneContainer, FCompactPoseBoneIndex BoneIndex);
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};
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namespace AnimationCore
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{
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/**
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* Fabrik solver
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*
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* This solves FABRIK
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*
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* @param Chain Array of chain data
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* @param TargetPosition Target for the IK
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* @param MaximumReach Maximum Reach
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* @param Precision Precision
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* @param MaxIteration Number of Max Iteration
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*
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* @return true if modified. False if not.
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*/
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ANIMATIONCORE_API bool SolveFabrik(TArray<FABRIKChainLink>& InOutChain, const FVector& TargetPosition, float MaximumReach, float Precision, int32 MaxIteration);
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};
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