115 lines
5.1 KiB
C
115 lines
5.1 KiB
C
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//----------------------------------------------------------------------------//
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// //
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// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
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// and distributed under the MIT License (MIT). //
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// //
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// Copyright (c) Guillaume Blanc //
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// //
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// Permission is hereby granted, free of charge, to any person obtaining a //
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// copy of this software and associated documentation files (the "Software"), //
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// to deal in the Software without restriction, including without limitation //
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// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
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// and/or sell copies of the Software, and to permit persons to whom the //
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// Software is furnished to do so, subject to the following conditions: //
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// //
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// The above copyright notice and this permission notice shall be included in //
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// all copies or substantial portions of the Software. //
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// //
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
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// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
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// DEALINGS IN THE SOFTWARE. //
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// //
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//----------------------------------------------------------------------------//
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#ifndef OZZ_OZZ_ANIMATION_RUNTIME_IK_AIM_JOB_H_
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#define OZZ_OZZ_ANIMATION_RUNTIME_IK_AIM_JOB_H_
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#include "ozz/base/platform.h"
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#include "ozz/base/maths/simd_math.h"
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namespace ozz {
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// Forward declaration of math structures.
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namespace math {
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struct SimdQuaternion;
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}
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namespace animation {
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// ozz::animation::IKAimJob rotates a joint so it aims at a target. Joint aim
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// direction and up vectors can be different from joint axis. The job computes
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// the transformation (rotation) that needs to be applied to the joints such
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// that a provided forward vector (in joint local-space) aims at the target
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// position (in skeleton model-space). Up vector (in joint local-space) is also
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// used to keep the joint oriented in the same direction as the pole vector.
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// The job also exposes an offset (in joint local-space) from where the forward
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// vector should aim the target.
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// Result is unstable if joint-to-target direction is parallel to pole vector,
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// or if target is too close to joint position.
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struct IKAimJob {
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// Default constructor, initializes default values.
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IKAimJob();
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// Validates job parameters. Returns true for a valid job, or false otherwise:
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// -if output quaternion pointer is nullptr
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bool Validate() const;
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// Runs job's execution task.
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// The job is validated before any operation is performed, see Validate() for
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// more details.
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// Returns false if *this job is not valid.
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bool Run() const;
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// Job input.
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// Target position to aim at, in model-space
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math::SimdFloat4 target;
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// Joint forward axis, in joint local-space, to be aimed at target position.
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// This vector shall be normalized, otherwise validation will fail.
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// Default is x axis.
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math::SimdFloat4 forward;
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// Offset position from the joint in local-space, that will aim at target.
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math::SimdFloat4 offset;
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// Joint up axis, in joint local-space, used to keep the joint oriented in the
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// same direction as the pole vector. Default is y axis.
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math::SimdFloat4 up;
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// Pole vector, in model-space. The pole vector defines the direction
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// the up should point to. Note that IK chain orientation will flip when
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// target vector and the pole vector are aligned/crossing each other. It's
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// caller responsibility to ensure that this doesn't happen.
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math::SimdFloat4 pole_vector;
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// Twist_angle rotates joint around the target vector.
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// Default is 0.
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float twist_angle;
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// Weight given to the IK correction clamped in range [0,1]. This allows to
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// blend / interpolate from no IK applied (0 weight) to full IK (1).
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float weight;
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// Joint model-space matrix.
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const math::Float4x4* joint;
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// Job output.
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// Output local-space joint correction quaternion. It needs to be multiplied
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// with joint local-space quaternion.
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math::SimdQuaternion* joint_correction;
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// Optional boolean output value, set to true if target can be reached with IK
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// computations. Target is considered not reachable when target is between
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// joint and offset position.
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bool* reached;
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};
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} // namespace animation
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} // namespace ozz
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#endif // OZZ_OZZ_ANIMATION_RUNTIME_IK_AIM_JOB_H_
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