CCDIK.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "BoneIndices.h"
#include "Containers/Array.h"
#include "CoreMinimal.h"
#include "CoreTypes.h"
#include "Math/MathFwd.h"
#include "Math/Transform.h"
#include "UObject/ObjectMacros.h"
 
#include "CCDIK.generated.h"
 
USTRUCT()
struct FCCDIKChainLink
{
    GENERATED_USTRUCT_BODY()
 
public:
    FTransform Transform;
 
    FTransform LocalTransform;
 
    int32 TransformIndex;
 
    TArray<int32> ChildZeroLengthTransformIndices;
 
    double CurrentAngleDelta;
 
    FCCDIKChainLink()
        : TransformIndex(INDEX_NONE)
        , CurrentAngleDelta(0.0)
    {
    }
 
    FCCDIKChainLink(const FTransform& InTransform, const FTransform& InLocalTransform, const int32& InTransformIndex)
        : Transform(InTransform)
        , LocalTransform(InLocalTransform)
        , TransformIndex(InTransformIndex)
        , CurrentAngleDelta(0.0)
    {
    }
};
 
namespace AnimationCore
{
    ANIMATIONCORE_API bool SolveCCDIK(TArray<FCCDIKChainLink>& InOutChain, const FVector& TargetPosition, float Precision, int32 MaxIteration, bool bStartFromTail, bool bEnableRotationLimit, const TArray<float>& RotationLimitPerJoints);
};