ccd-ik-solver.hpp

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/*
 * Copyright (C) 2023  Christopher J. Howard
 *
 * This file is part of Antkeeper source code.
 *
 * Antkeeper source code is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Antkeeper source code is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Antkeeper source code.  If not, see <http://www.gnu.org/licenses/>.
 */
 
#ifndef ANTKEEPER_ANIMATION_CCD_IK_SOLVER_HPP
#define ANTKEEPER_ANIMATION_CCD_IK_SOLVER_HPP
 
#include <engine/animation/ik/ik-solver.hpp>
#include <engine/animation/bone.hpp>
#include <vector>
 
class ik_rig;
 
class ccd_ik_solver: public ik_solver
{
public:
    ccd_ik_solver(ik_rig& ik_rig, bone_index_type root_bone_index, bone_index_type effector_bone_index);
    
    
    void solve() override;
    
    inline void set_max_iterations(std::size_t iterations) noexcept
    {
        m_max_iterations = iterations;
    }
    
    [[nodiscard]] inline std::size_t get_max_iterations() const noexcept
    {
        return m_max_iterations;
    }
    
    
    
    inline void set_effector_position(const math::fvec3& position) noexcept
    {
        m_effector_position = position;
    }
    
    [[nodiscard]] inline const math::fvec3& get_effector_position() const
    {
        return m_effector_position;
    }
    
    
    
    inline void set_goal_center(const math::fvec3& center) noexcept
    {
        m_goal_center = center;
    }
    
    inline void set_goal_radius(float radius) noexcept
    {
        m_sqr_goal_radius = radius * radius;
    }
    
    [[nodiscard]] inline const math::fvec3& get_goal_center() const
    {
        return m_goal_center;
    }
    
    
private:
    ik_rig* m_ik_rig{nullptr};
    std::size_t m_max_iterations{10};
    std::vector<bone_index_type> m_bone_indices;
    math::fvec3 m_effector_position{0.0f, 0.0f, 0.0f};
    math::fvec3 m_goal_center{0.0f, 0.0f, 0.0f};
    float m_sqr_goal_radius{1e-5f};
};
 
#endif // ANTKEEPER_ANIMATION_CCD_IK_SOLVER_HPP