legged-locomotion-component.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_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP
#define ANTKEEPER_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP
 
#include <engine/math/vector.hpp>
#include <engine/animation/pose.hpp>
#include <engine/animation/locomotion/gait.hpp>
#include <memory>
#include <vector>
 
struct legged_locomotion_component
{
    math::fvec3 force{0.0f, 0.0f, 0.0f};
    
    const pose* midstance_pose{};
    const pose* midswing_pose{};
    const pose* liftoff_pose{};
    const pose* touchdown_pose{};
    
    std::vector<bone_index_type> tip_bones;
    
    bone_index_type body_bone{};
    
    std::uint8_t leg_bone_count{};
    
    std::shared_ptr<::gait> gait;
    
    float standing_height{};
    
    float stride_length{};
    
    float max_angular_frequency{};
    
    float speed{};
    
    float angular_velocity{};
    
    math::fvec3 target_direction{};
    
    float gait_phase{};
};
 
#endif // ANTKEEPER_GAME_LEGGED_LOCOMOTION_COMPONENT_HPP