JointIkBehaviour.h

#pragma once
// ===========================================================================
// Copyright (c) 2015 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 <Atoms/BehaviourTree/Behaviour.h>
#include <Atoms/BehaviourTree/BlackboardValue.h>
 
namespace Atoms
{
    class ATOMS_EXPORT JointIkBehaviour : public Behaviour
    {
    public:
 
        JointIkBehaviour();
 
        virtual ~JointIkBehaviour();
 
        virtual const char* typeName() const override;
 
        static const char* staticTypeName();
 
        virtual void initialize(BehaviourTreeContext* context, State* data) override;
 
        virtual void update(BehaviourTreeContext* context, State* data) override;
 
        virtual void terminate(BehaviourTreeContext* context, State* data) override;
 
        virtual void releaseData(BehaviourTreeContext* context, State* data) override;
 
        virtual void setAttributes(const AtomsCore::MapMetadata* attributes, Blackboard* blackboard) override;
 
        virtual void getAttributes(AtomsCore::MapMetadata* attributes, Blackboard* blackboard) override;
 
        virtual void getAttributeProperties(AtomsCore::MapMetadata* attributes) override;
 
        static Behaviour* creator();
 
    public:
 
        BlackboardStringValue rootJointName;
 
        BlackboardStringValue midJointName;
 
        BlackboardStringValue endJointName;
 
        BlackboardVector3Value target;
 
        BlackboardVector3Value poleVector;
 
        BlackboardDoubleValue weight;
 
        BlackboardIntValue mode;
 
        BlackboardBoolValue useFabrik;
    };
}