ik-goal.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_IK_GOAL_HPP
#define ANTKEEPER_ANIMATION_IK_GOAL_HPP
 
#include <engine/animation/ik/ik-solver.hpp>
#include <engine/math/vector.hpp>
#include <memory>
 
class ik_goal
{
public:
    inline void set_solver(std::shared_ptr<ik_solver> solver) noexcept
    {
        m_solver = solver;
    }
    
    inline void set_center(const math::fvec3& center) noexcept
    {
        m_center = center;
    }
    
    inline void set_radius(float radius) noexcept
    {
        m_radius = radius;
        m_sqr_radius = m_sqr_radius * m_sqr_radius;
    }
    
    [[nodiscard]] inline const std::shared_ptr<ik_solver>& get_solver() const noexcept
    {
        return m_solver;
    }
    
    [[nodiscard]] inline const math::fvec3& get_center() const noexcept
    {
        return m_center;
    }
    
    [[nodiscard]] inline float get_radius() const noexcept
    {
        return m_radius;
    }
 
private:
    std::shared_ptr<ik_solver> m_solver;
    math::fvec3 m_center{};
    float m_radius{1e-3f};
    float m_sqr_radius{1e-6f};
};
 
#endif // ANTKEEPER_ANIMATION_IK_GOAL_HPP