dust3d/src/ccdikresolver.h

#ifndef CCD_IK_SOLVER_H
#define CCD_IK_SOLVER_H
#include <vector>
#include <QVector3D>
#include <QQuaternion>
#include "jointconstraint.h"

struct CCDIKNode
{
    QVector3D position;
    JointConstraint constraint;
    bool hasConstraint = false;
};

class CCDIKSolver
{
public:
    CCDIKSolver();
    void setMaxRound(int maxRound);
    void setDistanceThreshod(float threshold);
    int addNodeInOrder(const QVector3D &position, const JointConstraint *constraint=nullptr);
    void solveTo(const QVector3D &position);
    const QVector3D &getNodeSolvedPosition(int index);
    int getNodeCount(void);
private:
    void iterate();
private:
    std::vector<CCDIKNode> m_nodes;
    QVector3D m_destination;
    int m_maxRound;
    float m_distanceThreshold2;
    float m_distanceCeaseThreshold2;
};

#endif