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7c0f5172ac
- Moved all skeletal control nodes to start out Upgrade Note: Modules containing custom animation nodes will need to have a dependency on the new "AnimGraphRuntime" module added to their Build.cs file #codereview lina.halper [CL 2582755 by Michael Noland in Main branch]
105 lines
3.5 KiB
C++
105 lines
3.5 KiB
C++
// Copyright 1998-2015 Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "AnimNode_SkeletalControlBase.h"
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#include "AnimNode_Fabrik.generated.h"
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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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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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FCompactPoseBoneIndex BoneIndex;
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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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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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{
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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)
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, TransformIndex(InTransformIndex)
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{
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}
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};
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USTRUCT()
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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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/** Reference frame of Effector Transform. */
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = EndEffector)
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TEnumAsByte<enum EBoneControlSpace> EffectorTransformSpace;
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/** If EffectorTransformSpace is a bone, this is the bone to use. **/
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = EndEffector)
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FBoneReference EffectorTransformBone;
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = EndEffector)
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TEnumAsByte<enum EBoneRotationSource> EffectorRotationSource;
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/** Name of tip bone */
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Solver)
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FBoneReference TipBone;
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/** Name of the root bone*/
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UPROPERTY(EditAnywhere, BlueprintReadWrite, 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, BlueprintReadWrite, 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, BlueprintReadWrite, Category = Solver)
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int32 MaxIterations;
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/** Toggle drawing of axes to debug joint rotation*/
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UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = Solver)
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bool bEnableDebugDraw;
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public:
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FAnimNode_Fabrik();
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// FAnimNode_SkeletalControlBase interface
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virtual void EvaluateBoneTransforms(USkeletalMeshComponent* SkelComp, FCSPose<FCompactPose>& MeshBases, 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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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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}; |