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b4a6e947d8
Headers are updated to contain any missing #includes needed to compile and #includes are sorted. Nothing is removed. #ushell-cherrypick of 21065896 by bryan.sefcik #preflight 62d4b1a5a6141b6adfb0c892 #jira #ROBOMERGE-OWNER: Bryan.sefcik #ROBOMERGE-AUTHOR: bryan.sefcik #ROBOMERGE-SOURCE: CL 21150156 via CL 21151754 via CL 21154719 #ROBOMERGE-BOT: UE5 (Release-Engine-Staging -> Main) (v972-20964824) #ROBOMERGE-CONFLICT from-shelf [CL 21181076 by Bryan sefcik in ue5-main branch]
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
// Copyright Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "BoneIndices.h"
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#include "Containers/Array.h"
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#include "CoreMinimal.h"
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#include "CoreTypes.h"
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#include "Math/MathFwd.h"
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#include "Math/Transform.h"
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#include "UObject/ObjectMacros.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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