FABRIK.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/UnrealMathSSE.h"
#include "Math/Vector.h"
#include "UObject/ObjectMacros.h"
 
#include "FABRIK.generated.h"
 
struct FBoneContainer;
USTRUCT()
struct FFABRIKChainLink
{
    GENERATED_USTRUCT_BODY()
 
public:
    FVector Position;
 
    double Length;
 
    int32 BoneIndex;
 
    int32 TransformIndex;
 
    FVector DefaultDirToParent;
 
    TArray<int32> ChildZeroLengthTransformIndices;
 
    FFABRIKChainLink()
        : Position(FVector::ZeroVector)
        , Length(0.0)
        , BoneIndex(INDEX_NONE)
        , TransformIndex(INDEX_NONE)
        , DefaultDirToParent(FVector(-1.0, 0.0, 0.0))
    {
    }
 
    FFABRIKChainLink(const FVector& InPosition, const double InLength, const FCompactPoseBoneIndex& InBoneIndex, const int32& InTransformIndex)
        : Position(InPosition)
        , Length(InLength)
        , BoneIndex(InBoneIndex.GetInt())
        , TransformIndex(InTransformIndex)
        , DefaultDirToParent(FVector(-1.0, 0.0, 0.0))
    {
    }
 
    FFABRIKChainLink(const FVector& InPosition, const double InLength, const FCompactPoseBoneIndex& InBoneIndex, const int32& InTransformIndex, const FVector& InDefaultDirToParent)
        : Position(InPosition)
        , Length(InLength)
        , BoneIndex(InBoneIndex.GetInt())
        , TransformIndex(InTransformIndex)
        , DefaultDirToParent(InDefaultDirToParent)
    {
    }
 
    FFABRIKChainLink(const FVector& InPosition, const double InLength, const int32 InBoneIndex, const int32 InTransformIndex)
        : Position(InPosition)
        , Length(InLength)
        , BoneIndex(InBoneIndex)
        , TransformIndex(InTransformIndex)
        , DefaultDirToParent(FVector(-1.0, 0.0, 0.0))
    {
    }
};
 
namespace AnimationCore
{
    ANIMATIONCORE_API bool SolveFabrik(TArray<FFABRIKChainLink>& InOutChain, const FVector& TargetPosition, double MaximumReach, double Precision, int32 MaxIteration);
};