AnimNode_CCDIK.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "AnimNode_SkeletalControlBase.h"
#include "CCDIK.h"
#include "EngineDefines.h"
#include "AnimNode_CCDIK.generated.h"
 
USTRUCT()
struct FAnimNode_CCDIK : public FAnimNode_SkeletalControlBase
{
    GENERATED_USTRUCT_BODY()
 
    
    UPROPERTY(EditAnywhere, Category = Effector, meta = (PinShownByDefault))
    FVector EffectorLocation;
 
    UPROPERTY(EditAnywhere, Category = Effector)
    TEnumAsByte<enum EBoneControlSpace> EffectorLocationSpace;
 
    UPROPERTY(EditAnywhere, Category = Effector)
    FBoneSocketTarget EffectorTarget;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    FBoneReference TipBone;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    FBoneReference RootBone;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    float Precision;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    int32 MaxIterations;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    bool bStartFromTail;
 
    UPROPERTY(EditAnywhere, Category = Solver)
    bool bEnableRotationLimit;
 
private:
    UPROPERTY(EditAnywhere, EditFixedSize, Category = Solver)
    TArray<float> RotationLimitPerJoints;
 
public:
    ANIMGRAPHRUNTIME_API FAnimNode_CCDIK();
 
    // FAnimNode_Base interface
    ANIMGRAPHRUNTIME_API virtual void GatherDebugData(FNodeDebugData& DebugData) override;
    // End of FAnimNode_Base interface
 
    // FAnimNode_SkeletalControlBase interface
    ANIMGRAPHRUNTIME_API virtual void EvaluateSkeletalControl_AnyThread(FComponentSpacePoseContext& Output, TArray<FBoneTransform>& OutBoneTransforms) override;
    ANIMGRAPHRUNTIME_API virtual bool IsValidToEvaluate(const USkeleton* Skeleton, const FBoneContainer& RequiredBones) override;
    // End of FAnimNode_SkeletalControlBase interface
 
private:
    // FAnimNode_SkeletalControlBase interface
    ANIMGRAPHRUNTIME_API virtual void InitializeBoneReferences(const FBoneContainer& RequiredBones) override;
    // End of FAnimNode_SkeletalControlBase interface
 
    // Convenience function to get current (pre-translation iteration) component space location of bone by bone index
    FVector GetCurrentLocation(FCSPose<FCompactPose>& MeshBases, const FCompactPoseBoneIndex& BoneIndex);
 
    static FTransform GetTargetTransform(const FTransform& InComponentTransform, FCSPose<FCompactPose>& MeshBases, FBoneSocketTarget& InTarget, EBoneControlSpace Space, const FVector& InOffset);
 
public:
#if WITH_EDITOR
#if UE_ENABLE_DEBUG_DRAWING
    TArray<FVector> DebugLines;
#endif // #if UE_ENABLE_DEBUG_DRAWING
    // resize rotation limit array based on set up
    ANIMGRAPHRUNTIME_API void ResizeRotationLimitPerJoints(int32 NewSize);
#endif
};