AnimTestbed/3rdparty/ozz-animation/include/ozz/animation/runtime/ik_aim_job.h

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