ControlPose.h

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#pragma once
#include "common/Export.h"
 
#include "animation/AnimControlMath.h"
#include "animation/AnimPose.h"
#include "common/Time.h"
 
#include <string>
#include <vector>
 
namespace eve::animation {
 
class AnimSkeleton;
 
class EVENGINE_API_WORLD ControlPose {
public:
    explicit ControlPose(AnimSkeleton *skeleton);
    ~ControlPose() = default;
 
    ControlPose(const ControlPose &)            = delete;
    ControlPose &operator=(const ControlPose &) = delete;
 
    AnimSkeleton *getSkeleton() const { return skeleton_; }
 
    void  setFrequency(float frequencyHz);
    float getFrequency() const { return frequencyHz_; }
    void  setDamping(float dampingZeta);
    float getDamping() const { return dampingZeta_; }
    void  setResponse(float response);
    float getResponse() const { return response_; }
 
    void        setIntegrator(const std::string &kind);
    std::string getIntegrator() const;
 
    void  setBoneWeight(int boneIndex, float weight);
    float getBoneWeight(int boneIndex) const;
 
    void setTargetPose(const AnimPose *target);
    void snapToTarget();
 
    AnimPose *getPose();
    AnimPose *getTargetPose();
 
    [[nodiscard]] eve::Result<void> advance(const eve::SimulationStep &step);
    void update(float dt);
 
private:
    enum class Integrator { SecondOrder, Spring, Pd };
 
    struct ScalarState {
        float y  = 0.f;
        float yd = 0.f;
        float x  = 0.f;
        float xp = 0.f;
        bool  hasPrev = false;
    };
 
    struct BoneState {
        ScalarState px, py, pz;
        ScalarState qx, qy, qz, qw;
        ScalarState sx, sy, sz;
        float weight = 1.f;
    };
 
    void refreshCoeffs();
    void ensureBones(int count);
    void stepScalar(float dt, float xd, ScalarState &s);
    void writePoseFromState();
    void readTargetIntoState(const AnimPose *target, bool snap);
 
    AnimSkeleton *skeleton_ = nullptr;
    AnimPose      pose_;
    AnimPose      target_;
 
    float frequencyHz_ = 3.f;
    float dampingZeta_ = 1.f;
    float response_    = 1.f;
    Integrator integrator_ = Integrator::SecondOrder;
    SecondOrderCoeffs coeffs_{};
    float kp_ = 0.f;
    float kd_ = 0.f;
 
    std::vector<BoneState> bones_;
    bool hasTarget_ = false;
    eve::SimulationTick    lastTick_    = eve::SimulationTick::zero();
    bool                   hasLastTick_ = false;
 
    void updateUnchecked(float dt);
};
 
}  // namespace eve::animation