1 // 2 // Copyright (c) 2008-2017 the Urho3D project. 3 // 4 // Permission is hereby granted, free of charge, to any person obtaining a copy 5 // of this software and associated documentation files (the "Software"), to deal 6 // in the Software without restriction, including without limitation the rights 7 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 8 // copies of the Software, and to permit persons to whom the Software is 9 // furnished to do so, subject to the following conditions: 10 // 11 // The above copyright notice and this permission notice shall be included in 12 // all copies or substantial portions of the Software. 13 // 14 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 15 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 16 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 17 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 18 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 19 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 20 // THE SOFTWARE. 21 // 22 23 #pragma once 24 25 #include "Sample.h" 26 27 namespace Urho3D 28 { 29 class AnimationController; 30 class Node; 31 class IKEffector; 32 class IKSolver; 33 class Scene; 34 } 35 36 /// Inverse Kinematics demo. 37 /// This sample demonstrates how to adjust the position of animated feet so they match the ground's angle using IK 38 class InverseKinematics : public Sample 39 { 40 URHO3D_OBJECT(InverseKinematics, Sample); 41 42 public: 43 /// Construct. 44 InverseKinematics(Context* context); 45 46 /// Setup after engine initialization and before running the main loop. 47 virtual void Start(); 48 49 protected: 50 /// Animation controller of Jack. 51 SharedPtr<Urho3D::AnimationController> jackAnimCtrl_; 52 /// Inverse kinematic effectors and solver 53 SharedPtr<Urho3D::IKEffector> leftEffector_; 54 SharedPtr<Urho3D::IKEffector> rightEffector_; 55 SharedPtr<Urho3D::IKSolver> solver_; 56 /// Need references to these nodes to calculate foot angles and offsets 57 SharedPtr<Urho3D::Node> leftFoot_; 58 SharedPtr<Urho3D::Node> rightFoot_; 59 SharedPtr<Urho3D::Node> jackNode_; 60 /// So we can rotate the floor 61 SharedPtr<Urho3D::Node> floorNode_; 62 float floorPitch_; 63 float floorRoll_; 64 /// Whether or not to draw debug geometry 65 bool drawDebug_; 66 67 private: 68 /// Construct the scene content. 69 void CreateScene(); 70 /// Construct an instruction text to the UI. 71 void CreateInstructions(); 72 /// Set up a viewport for displaying the scene. 73 void SetupViewport(); 74 /// Read input and moves the camera. 75 void UpdateCameraAndFloor(float timeStep); 76 /// Subscribe to application-wide logic update events. 77 void SubscribeToEvents(); 78 /// Handle the logic update event. 79 void HandleUpdate(StringHash eventType, VariantMap& eventData); 80 /// Draw debug geometry 81 void HandlePostRenderUpdate(StringHash eventType, VariantMap& eventData); 82 /// Process IK logic 83 void HandleSceneDrawableUpdateFinished(StringHash eventType, VariantMap& eventData); 84 85 SharedPtr<Node> cameraRotateNode_; 86 }; 87