41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#ifndef DUST3D_APPLICATION_CCD_IK_SOLVER_H_
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#define DUST3D_APPLICATION_CCD_IK_SOLVER_H_
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#include <QQuaternion>
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#include <QVector3D>
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#include <vector>
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struct CcdIkNode {
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QVector3D position;
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QVector3D axis;
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double minLimitDegrees;
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double maxLimitDegrees;
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};
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class CcdIkSolver {
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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();
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void setNodeHingeConstraint(int nodeIndex,
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const QVector3D& axis, double minLimitDegrees, double maxLimitDegrees);
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void setSolveFrom(int fromNodeIndex);
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private:
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float angleInRangle360BetweenTwoVectors(QVector3D a, QVector3D b, QVector3D planeNormal);
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void iterate();
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std::vector<CcdIkNode> m_nodes;
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QVector3D m_destination;
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int m_maxRound = 4;
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float m_distanceThreshold2 = 0.001 * 0.001;
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float m_distanceCeaseThreshold2 = 0.001 * 0.001;
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int m_fromNodeIndex = 0;
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};
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#endif
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