JointChain.h

#pragma once
// ===========================================================================
// Copyright (c) 2020 Toolchefs Ltd. All rights reserved.
//
// Use of this software is subject to the terms of the Toolchefs license
// agreement provided at the time of installation or download, or which
// otherwise accompanies this software in either electronic or hard copy form.
// ===========================================================================
 
#include <AtomsCore/Globals.h>
#include <AtomsCore/AtomsMath.h>
#include <AtomsCore/Joint.h>
#include <AtomsCore/Poser.h>
#include <string>
#include <vector>
 
namespace AtomsCore
{
    class JointChain;
 
    typedef JointChain*  JointChainPtr; 
 
    typedef const JointChain * JointChainCPtr; 
 
    typedef std::vector<JointChainPtr> JointChainPtrArray; 
 
    /*
    */
    class ATOMSCORE_EXPORT JointChain
    {
 
    public:
 
        struct BindData
        {
            AtomsCore::Matrix matrix;
            AtomsCore::Vector3 pos;
            AtomsCore::Quaternion rot;
        };
 
        JointChain(unsigned short numberOfJoints);
 
        JointChain(const JointChain& rhs);
 
        ~JointChain();
 
        JointChain& operator=(const JointChain& ptr);
 
 
        inline const std::string& name() const;
 
 
        inline void setName(const std::string& name);
 
 
        inline const std::string& fullName() const;
 
 
        inline void setFullName(const std::string& fullName);
 
 
        inline unsigned short id() const;
 
 
        inline void setId(unsigned short id);
 
 
        Joint& joint(unsigned short i);
 
 
        const Joint& joint(unsigned short i) const;
 
 
        inline unsigned short jointId(unsigned short i) const;
 
 
        inline const std::vector<unsigned short>& ikJointIds() const;
 
 
        inline const std::vector<unsigned short>& skeletalJointIds() const;
 
 
        inline const BindData& bindData(unsigned short i) const;
 
 
        inline void setJoint(const Joint& joint, unsigned short i);
 
 
        inline void setJointId(unsigned short id, unsigned short i);
 
 
        inline void setIkJointIds(std::vector<unsigned short> ikIds);
 
 
        inline unsigned short numJoints() const;
 
 
        inline unsigned short numIkJoints() const;
 
 
        inline unsigned short numSkeletalJointIds() const;
 
 
        inline const std::vector<unsigned short>& jointIds() const;
 
 
        inline const JointChain* parent() const;
 
 
        inline void setParent(JointChain &parent);
 
 
        inline const JointPtr start() const;
 
 
        void setStart();
 
 
        inline const JointPtr end() const;
 
 
        void setEnd();
 
 
        inline bool isConnectedToParent() const;
 
 
        inline void setIsConnectedToParent(bool isConnected);
 
 
        inline bool isRoot() const;
 
 
        inline void setIsRoot(bool isRoot);
 
 
        inline bool isSpine() const;
 
 
        inline void setIsSpine(bool isSpine);
 
 
        inline bool isLimb() const;
 
 
        inline void setIsLimb(bool isLimb);
 
 
        inline bool isEffector() const;
 
 
        inline void setIsEffector(bool isEffector);
 
 
        inline bool isCenter() const;
 
 
        inline void setIsCenter(bool isCenter);
 
 
        inline bool forceUseFabrik() const;
 
 
        inline void setForceUseFabrik(bool useFabrik);
 
 
        inline bool forceOrientEnd() const;
 
 
        inline void setForceOrientEnd(bool orientEnd);
 
 
        inline bool hasFootTip() const;
 
 
        inline void setHasFootIk(bool hasFootIk);
 
 
        inline bool hasFootIk() const;
 
 
        inline void setHasFootTip(bool hasFoot);
 
 
        inline bool hasPelvis() const;
 
 
        inline void setHasPelvis(bool hasPelvis);
 
 
        inline bool hasPoleVector() const;
 
 
        inline void setHasPoleVector(bool hasPoleVector);
 
 
        inline AtomsCore::Vector3 poleVector() const;
 
 
        inline void setPoleVector(AtomsCore::Vector3 poleVector);
 
 
        inline unsigned short footTip() const;
 
 
        inline void setFootTip(unsigned short footTip);
 
 
        inline unsigned short footIk() const;
 
 
        inline void setFootIk(unsigned short footIk);
 
 
        inline unsigned short pelvisId() const;
 
 
        inline void setPelvisId(unsigned short pelvisId);
 
 
        void computeWorldBindData(const AtomsCore::Skeleton &skeleton, const AtomsCore::Poser &poser);
 
 
        inline double length() const;
 
 
        inline void setLength(double len);
 
 
        void computeLength();
 
 
        inline AtomsCore::Vector3 start2endBindVector() const;
 
 
        inline double start2endBindDistance() const;
 
 
        void getWorldBindData(
            const AtomsCore::Poser &poser,
            const unsigned int jointId,
            AtomsCore::Matrix &matrix,
            AtomsCore::Vector3 &scale,
            AtomsCore::Vector3 &shear,
            AtomsCore::Euler &euler,
            AtomsCore::Vector3 &pos) const;
 
 
        void computeSkeletalJointIds(const AtomsCore::Skeleton &skeleton);
 
        inline void setParentSpine(unsigned short spineJointId, const AtomsCore::Vector3& planeNormal, double baseSize);
 
        inline const AtomsCore::Vector3& spinePlaneNormal() const;
 
        inline const unsigned int spineJointId() const;
 
        inline const double spineBaseSize() const;
 
    private:
 
        JointPtr m_joints;
 
        std::string m_name;
 
        std::string m_fullName;
 
        unsigned short m_id;
 
        unsigned short m_numJoints;
 
        double m_length;
 
        std::vector<unsigned short> m_jointIds;
 
        std::vector<unsigned short> m_ikJointIds;
 
        std::vector<unsigned short> m_skeletalJointIds;
 
        std::vector<BindData> m_jointBindData;
 
        JointPtr m_start;
 
        JointPtr m_end;
 
        JointChain* m_parent;
 
        unsigned short m_footTip;
 
        unsigned short m_footIk;
 
        unsigned short m_pelvisId;
 
        AtomsCore::Vector3 m_start2endBindVector;
 
        AtomsCore::Vector3 m_poleVector;
 
        AtomsCore::Vector3 m_spinePlaneNormal;
 
        unsigned short m_spineId;
 
        double m_spineBaseSize;
 
        double m_start2endBindDistance;
 
        bool m_isConnectedToParent;
 
        bool m_isRoot;
 
        bool m_isSpine;
 
        bool m_isLimb;
 
        bool m_isEffector;
 
        bool m_isCenter;
 
        bool m_forceUseFabrik;
 
        bool m_forceOrientEnd;
 
        bool m_hasFootTip;
 
        bool m_hasFootIk;
 
        bool m_hasPelvis;
 
        bool m_hasPoleVector;
    };
}
 
ATOMSCORE_EXPORT std::ostream& operator<<(std::ostream& os, const AtomsCore::JointChain& jointChain);
 
#include "JointChain.impl.h"