10 #include <AtomsGraph/Ports.h>
12 #include <Atoms/Globals.h>
13 #include <Atoms/Graph/Operator.h>
19 FootCache() : wasDown(
false), initialized(
false), detachingFromGround(
false), frameSinceUp(10000u), lastValue(2.0){};
23 bool detachingFromGround;
28 unsigned short frameSinceUp;
32 unsigned int numMidJoints;
33 std::vector<unsigned short> midJointIds;
46 std::vector<AtomsCore::Quaternion> midQs;
47 std::vector<AtomsCore::Vector3> midTs;
48 std::vector<AtomsCore::Quaternion> midQdiffs;
49 std::vector<AtomsCore::Vector3> midTdiffs;
73 std::vector<FootCache> m_feetCache;
75 AtomsPtr<AtomsCore::MapMetadata> m_hfAnimatedMetaMap;
81 static const std::string ikSolverKey;
82 static const std::string ikTolleranceKey;
83 static const std::string ikMaxIterationsKey;