BoneControllerSolvers.h

Go to the documentation of this file.

// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Containers/ArrayView.h"
#include "Engine/SpringInterpolator.h"
#include "Math/Transform.h"
#include "Math/UnrealMathSSE.h"
#include "UObject/ObjectMacros.h"
 
#include "BoneControllerSolvers.generated.h"
 
USTRUCT(BlueprintInternalUseOnly)
struct FIKFootPelvisPullDownSolver
{
    GENERATED_BODY()
 
    // Specifies the spring interpolation parameters applied during pelvis adjustment
    UPROPERTY(EditAnywhere, Category=Settings)
    FVectorRK4SpringInterpolator PelvisAdjustmentInterp;
 
    // Specifies an alpha between the original and final adjusted pelvis locations
    // This is used to retain some degree of the original pelvis motion
    UPROPERTY(EditAnywhere, Category=Settings, meta=(ClampMin="0.0", ClampMax="1.0"))
    double PelvisAdjustmentInterpAlpha = 0.5;
 
    // Specifies the maximum displacement the pelvis can be adjusted relative to its original location
    UPROPERTY(EditAnywhere, Category=Settings, meta=(ClampMin="0.0"))
    double PelvisAdjustmentMaxDistance = 10.0;
 
    // Specifies the pelvis adjustment distance error that is tolerated for each iteration of the solver
    // 
    // When it is detected that the pelvis adjustment distance is incrementing at a value lower or equal
    // to this value for each iteration, the solve will halt. Lower values will marginally increase visual
    // quality at the cost of performance, but may require a higher PelvisAdjustmentMaxIter to be specified
    //
    // The default value of 0.01 specifies 1 centimeter of error
    UPROPERTY(EditAnywhere, Category=Advanced, meta=(ClampMin="0.001"))
    double PelvisAdjustmentErrorTolerance = 0.01;
 
    // Specifies the maximum number of iterations to run for the pelvis adjustment solver
    // Higher iterations will guarantee closer PelvisAdjustmentErrorTolerance convergence at the cost of performance
    UPROPERTY(EditAnywhere, Category=Advanced, meta=(ClampMin="0"))
    int32 PelvisAdjustmentMaxIter = 3;
 
    // Iteratively pulls the character pelvis towards the ground based on the relationship of driven IK foot targets versus FK foot limits
    ANIMGRAPHRUNTIME_API FTransform Solve(FTransform PelvisTransform, TArrayView<const float> FKFootDistancesToPelvis, TArrayView<const FVector> IKFootLocations, float DeltaTime);
};