GxModUnitIK.h

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//===========================================================================
//===========================================================================
#pragma once
 
GX_MOTION_NAMESPACE_BEGIN()
class GxModUnitMotionBlend;
//===========================================================================
//===========================================================================
class GxModUnitIK : public GxModUnitBase
{
    //-----------------------------------------------------------
    //-----------------------------------------------------------
public:
    // RTTI宣言
    GX_RTTI_CLASS(GxModUnitIK, GxModUnitBase)
    // GxClassBase継承クラス用禁止宣言
    GX_PROHIBIT_CLASS_BASE(GxModUnitIK)
 
    
    class IKData : public GxClassBase
    {
        //-----------------------------------------------------------
        //-----------------------------------------------------------
    public:
        GX_RTTI_CLASS(IKData, GxClassBase);
 
        //-----------------------------------------------------------
        //-----------------------------------------------------------
 
        IKData(void);
        ~IKData(void);
 
        //-----------------------------------------------------------
        //-----------------------------------------------------------
 
        f32                     _startValue;                
        f32                     _targetValue;               
        f32                     _nowValue;                  
        f32                     _elapsedFrame;              
        GxVector3               _floorNormal;               
 
    };
 
    //-----------------------------------------------------------
    //-----------------------------------------------------------
public:
    GxModUnitIK(void);
    ~GxModUnitIK(void) override;
    virtual void initialize(GxModUnitMotionBlend* pMotion, GxResMotionIK* pResIK);
 
    //-----------------------------------------------------------
    //-----------------------------------------------------------
public:
    void preAsyncUpdate(void) override;
protected:
    void computeNewMatrices(GxMotionJoint& joint, GxArray& jointsUpToDate);
    virtual void updateTarget(void);
    void calcMotionDataMatrices2BonesIK(const u32 chainEndJointNumber, GxVector3 const& ikTargetPosition);
    void updateJointMatrices(GxMotionJoint* pJoint);
private:
    b32  findInArray(void const* pObject, GxArray const& array);
 
    //-----------------------------------------------------------
    //-----------------------------------------------------------
public:
    GX_FORCE_INLINE static const GxRtti& getOwnerDerivedRtti(void) { return GxUnitModelBase::GX_RTTI; }
 
    constexpr GxModUnitMotionBlend* getModMotion(void) const { return _pMotion; }
    constexpr GxResMotionIK* getResMotionIK(void) const { return _pResIK; }
    constexpr IKData* getIKData(u32 index) const { return _ppIKObjectData[index]; }
    GX_FORCE_INLINE b32 isEnableMotion(void) const { return _isEnableMotion; }
protected:
    void setTarget(IKData* pIKData, f32 const target);
    b32  hasFloor(const GxVector3& position, GxVector3& collision, GxVector3& collisionNormal);
    f32  getRate(f32 frameElapsed, INTERPOLATE curveType, f32 curveTargetFrameCount, f32 curvature);
    virtual GxUnitModelBase::GxJoint* getModelJoint(GxMotionJoint* pMotionJoint, s32* pOutMotionJointIndex = nullptr);
    u32 getModelJointChildrenCount(GxUnitModelBase::GxJoint* pJoint, b32 enumTopBrotherJoint = false);
private:
    s32  getMotionJointIndex(const GxMotionJoint* pJoint) const;
 
    //-----------------------------------------------------------
    //-----------------------------------------------------------
protected:
    GxModUnitMotionBlend*  _pMotion;                        
    GxResMotionIK*         _pResIK;                         
    b32                    _isEnableMotion;                 
    f32                    _waistJointMaxDrop;              
    IKData**               _ppIKObjectData;                 
    s32                    _hipJointId;                     
    IKData*                _pWaistObjectData;               
 
};
 
GX_MOTION_NAMESPACE_END()