89 lines
3.2 KiB
C++
89 lines
3.2 KiB
C++
//
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// Copyright (c) 2008-2021 the Urho3D project.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// 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 THE
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// 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 FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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//
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#pragma once
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#include "Sample.h"
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namespace Urho3D
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{
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class AnimationController;
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class Node;
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class IKEffector;
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class IKSolver;
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class Scene;
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}
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/// Inverse Kinematics demo.
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/// This sample demonstrates how to adjust the position of animated feet so they match the ground's angle using IK.
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class InverseKinematics : public Sample
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{
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URHO3D_OBJECT(InverseKinematics, Sample);
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public:
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/// Construct.
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explicit InverseKinematics(Context* context);
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/// Setup after engine initialization and before running the main loop.
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void Start() override;
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protected:
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/// Animation controller of Jack.
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SharedPtr<Urho3D::AnimationController> jackAnimCtrl_;
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/// Inverse kinematic left effector.
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SharedPtr<Urho3D::IKEffector> leftEffector_;
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/// Inverse kinematic right effector.
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SharedPtr<Urho3D::IKEffector> rightEffector_;
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/// Inverse kinematic solver.
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SharedPtr<Urho3D::IKSolver> solver_;
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/// Need references to these nodes to calculate foot angles and offsets.
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SharedPtr<Urho3D::Node> leftFoot_;
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SharedPtr<Urho3D::Node> rightFoot_;
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SharedPtr<Urho3D::Node> jackNode_;
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/// So we can rotate the floor.
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SharedPtr<Urho3D::Node> floorNode_;
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float floorPitch_{};
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float floorRoll_{};
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/// Whether or not to draw debug geometry.
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bool drawDebug_{};
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private:
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/// Construct the scene content.
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void CreateScene();
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/// Construct an instruction text to the UI.
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void CreateInstructions();
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/// Set up a viewport for displaying the scene.
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void SetupViewport();
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/// Read input and moves the camera.
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void UpdateCameraAndFloor(float timeStep);
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/// Subscribe to application-wide logic update events.
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void SubscribeToEvents();
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/// Handle the logic update event.
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void HandleUpdate(StringHash eventType, VariantMap& eventData);
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/// Draw debug geometry.
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void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData);
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/// Process IK logic.
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void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData);
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/// Camera node.
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SharedPtr<Node> cameraRotateNode_;
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};
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