urho3d/Source/Samples/45_InverseKinematics/InverseKinematics.h

//
// Copyright (c) 2008-2017 the Urho3D project.
//
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#pragma once

#include "Sample.h"

namespace Urho3D
{
class AnimationController;
class Node;
class IKEffector;
class IKSolver;
class Scene;
}

/// Inverse Kinematics demo.
/// This sample demonstrates how to adjust the position of animated feet so they match the ground's angle using IK
class InverseKinematics : public Sample
{
    URHO3D_OBJECT(InverseKinematics, Sample);

public:
    /// Construct.
    InverseKinematics(Context* context);

    /// Setup after engine initialization and before running the main loop.
    virtual void Start();

protected:
    /// Animation controller of Jack.
    SharedPtr<Urho3D::AnimationController> jackAnimCtrl_;
    /// Inverse kinematic effectors and solver
    SharedPtr<Urho3D::IKEffector> leftEffector_;
    SharedPtr<Urho3D::IKEffector> rightEffector_;
    SharedPtr<Urho3D::IKSolver> solver_;
    /// Need references to these nodes to calculate foot angles and offsets
    SharedPtr<Urho3D::Node> leftFoot_;
    SharedPtr<Urho3D::Node> rightFoot_;
    SharedPtr<Urho3D::Node> jackNode_;
    /// So we can rotate the floor
    SharedPtr<Urho3D::Node> floorNode_;
    float floorPitch_;
    float floorRoll_;
    /// Whether or not to draw debug geometry
    bool drawDebug_;

private:
    /// Construct the scene content.
    void CreateScene();
    /// Construct an instruction text to the UI.
    void CreateInstructions();
    /// Set up a viewport for displaying the scene.
    void SetupViewport();
    /// Read input and moves the camera.
    void UpdateCameraAndFloor(float timeStep);
    /// Subscribe to application-wide logic update events.
    void SubscribeToEvents();
    /// Handle the logic update event.
    void HandleUpdate(StringHash eventType, VariantMap& eventData);
    /// Draw debug geometry
    void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData);
    /// Process IK logic
    void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData);

    SharedPtr<Node> cameraRotateNode_;
};