33 lines
670 B
C++
33 lines
670 B
C++
#ifndef CCD_IK_SOLVER_H
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#define CCD_IK_SOLVER_H
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#include <vector>
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#include <QVector3D>
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#include <QQuaternion>
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struct CCDIKNode
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{
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QVector3D position;
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};
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class CCDIKSolver
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{
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public:
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CCDIKSolver();
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void setMaxRound(int maxRound);
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void setDistanceThreshod(float threshold);
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int addNodeInOrder(const QVector3D &position);
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void solveTo(const QVector3D &position);
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const QVector3D &getNodeSolvedPosition(int index);
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int getNodeCount(void);
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private:
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void iterate();
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private:
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std::vector<CCDIKNode> m_nodes;
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QVector3D m_destination;
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int m_maxRound;
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float m_distanceThreshold2;
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float m_distanceCeaseThreshold2;
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};
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#endif
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