AnimNode_SplineIK.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "BoneControllers/AnimNode_SkeletalControlBase.h"
#include "Components/SplineComponent.h"
#include "AlphaBlend.h"
#include "AnimNode_SplineIK.generated.h"
 
UENUM()
enum class ESplineBoneAxis : uint8
{
    None = 0 UMETA(Hidden),
    X = 1,
    Y = 2,
    Z = 3,
};
 
USTRUCT()
struct FSplineIKCachedBoneData
{
    GENERATED_BODY()
 
    FSplineIKCachedBoneData()
        : Bone(NAME_None)
        , RefSkeletonIndex(INDEX_NONE)
    {}
 
    FSplineIKCachedBoneData(const FName& InBoneName, int32 InRefSkeletonIndex)
        : Bone(InBoneName)
        , RefSkeletonIndex(InRefSkeletonIndex)
    {}
 
    UPROPERTY()
    FBoneReference Bone;
 
    UPROPERTY()
    int32 RefSkeletonIndex;
};
 
USTRUCT(BlueprintInternalUseOnly)
struct FAnimNode_SplineIK : public FAnimNode_SkeletalControlBase
{
    GENERATED_BODY()
 
    
    UPROPERTY(EditAnywhere, Category = "Parameters")
    FBoneReference StartBone;
 
    UPROPERTY(EditAnywhere, Category = "Parameters")
    FBoneReference EndBone;
 
    UPROPERTY(EditAnywhere, Category = "Parameters")
    ESplineBoneAxis BoneAxis;
 
    UPROPERTY(EditAnywhere, Category = "Parameters")
    bool bAutoCalculateSpline;
 
    UPROPERTY(EditAnywhere, Category = "Parameters", meta = (ClampMin = 2, UIMin = 2, EditCondition = "!bAutoCalculateSpline"))
    int32 PointCount;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, EditFixedSize, Category = "Parameters", meta = (BlueprintCompilerGeneratedDefaults, PinHiddenByDefault))
    TArray<FTransform> ControlPoints;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Parameters", meta = (PinHiddenByDefault))
    float Roll;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Parameters", meta = (PinHiddenByDefault))
    float TwistStart;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Parameters", meta = (PinHiddenByDefault))
    float TwistEnd;
 
    UPROPERTY(EditAnywhere, Category = "Parameters")
    FAlphaBlend TwistBlend;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Parameters", meta = (PinHiddenByDefault))
    float Stretch;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite, Category = "Parameters", meta = (PinHiddenByDefault))
    float Offset;
 
    ANIMGRAPHRUNTIME_API FAnimNode_SplineIK();
 
    // FAnimNode_Base interface
    ANIMGRAPHRUNTIME_API virtual void GatherDebugData(FNodeDebugData& DebugData) override;
    ANIMGRAPHRUNTIME_API virtual void OnInitializeAnimInstance(const FAnimInstanceProxy* InProxy, const UAnimInstance* InAnimInstance) override;
    virtual bool NeedsOnInitializeAnimInstance() const override { return true; }
    // 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
 
    const FSplineCurves& GetSplineCurves() const { return BoneSpline; }
 
    const FSplineCurves& GetTransformedSplineCurves() const { return TransformedSpline; }
 
    ANIMGRAPHRUNTIME_API FTransform GetTransformedSplinePoint(int32 TransformIndex) const;
 
    ANIMGRAPHRUNTIME_API FTransform GetControlPoint(int32 TransformIndex) const;
 
    ANIMGRAPHRUNTIME_API void SetControlPoint(int32 TransformIndex, const FTransform& InTransform);
 
    ANIMGRAPHRUNTIME_API void SetControlPointLocation(int32 TransformIndex, const FVector& InLocation);
 
    ANIMGRAPHRUNTIME_API void SetControlPointRotation(int32 TransformIndex, const FQuat& InRotation);
 
    ANIMGRAPHRUNTIME_API void SetControlPointScale(int32 TransformIndex, const FVector& InScale);
 
    int32 GetNumControlPoints() const { return ControlPoints.Num(); }
 
    ANIMGRAPHRUNTIME_API void GatherBoneReferences(const FReferenceSkeleton& RefSkeleton);
 
protected:
    ANIMGRAPHRUNTIME_API void BuildBoneSpline(const FReferenceSkeleton& RefSkeleton);
 
protected:
    ANIMGRAPHRUNTIME_API void TransformSpline();
 
    ANIMGRAPHRUNTIME_API float FindParamAtFirstSphereIntersection(const FVector& InOrigin, float InRadius, int32& StartingLinearIndex);
 
private:
    // FAnimNode_SkeletalControlBase interface
    ANIMGRAPHRUNTIME_API virtual void InitializeBoneReferences(const FBoneContainer& RequiredBones) override;
    // End of FAnimNode_SkeletalControlBase interface
 
    ANIMGRAPHRUNTIME_API float GetTwist(float InAlpha, float TotalSplineAlpha);
 
    FSplineCurves TransformedSpline;
 
    TArray<FSplinePositionLinearApproximation> LinearApproximation;
 
    FSplineCurves BoneSpline;
 
    float OriginalSplineLength;
 
    TArray<FSplineIKCachedBoneData> CachedBoneReferences;
 
    TArray<float> CachedBoneLengths;
 
    TArray<FQuat> CachedOffsetRotations;
};