PhysicalBalancePose.h

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#pragma once
#include "common/Export.h"
 
#include "animation/AnimPose.h"
#include "common/Result.h"
#include "common/Time.h"
 
#include <vector>
 
namespace eve::animation {
 
class AnimSkeleton;
 
class EVENGINE_API_WORLD PhysicalBalancePose {
public:
    explicit PhysicalBalancePose(AnimSkeleton* skeleton);
    ~PhysicalBalancePose() = default;
 
    PhysicalBalancePose(const PhysicalBalancePose&)            = delete;
    PhysicalBalancePose& operator=(const PhysicalBalancePose&) = delete;
 
    [[nodiscard]] AnimSkeleton* getSkeleton() const;
 
    [[nodiscard]] eve::Result<void> setSupportBone(int boneIndex);
    [[nodiscard]] int               getSupportBone() const;
 
    [[nodiscard]] eve::Result<void> setBalanceBone(int boneIndex);
    [[nodiscard]] int               getBalanceBone() const;
 
    [[nodiscard]] eve::Result<void> setBoneMass(int boneIndex, float mass);
    [[nodiscard]] float             getBoneMass(int boneIndex) const;
 
    [[nodiscard]] eve::Result<void> setRecovery(float frequencyHz, float dampingZeta);
    [[nodiscard]] float             getRecoveryFrequency() const;
    [[nodiscard]] float             getRecoveryDamping() const;
 
    [[nodiscard]] eve::Result<void> setRecoil(float frequencyHz, float dampingZeta);
    [[nodiscard]] float             getRecoilFrequency() const;
    [[nodiscard]] float             getRecoilDamping() const;
 
    [[nodiscard]] eve::Result<void> setGravity(float metersPerSecondSquared);
    [[nodiscard]] float             getGravity() const;
 
    [[nodiscard]] eve::Result<void> setPendulumHeight(float meters);
    [[nodiscard]] float             getPendulumHeight() const;
 
    [[nodiscard]] eve::Result<void> setInertia(float inertia);
    [[nodiscard]] float             getInertia() const;
 
    [[nodiscard]] eve::Result<void> setRecoilInertia(float inertia);
    [[nodiscard]] float             getRecoilInertia() const;
 
    [[nodiscard]] eve::Result<void> setMaxLean(float radians);
    [[nodiscard]] float             getMaxLean() const;
 
    [[nodiscard]] eve::Result<void> setTargetPose(const AnimPose* target);
 
    [[nodiscard]] eve::Result<void> snapToTarget();
 
    [[nodiscard]] eve::Result<void> applyImpulse(int boneIndex, float impulseX, float impulseY, float impulseZ,
                                                 float pointX, float pointY, float pointZ);
 
    [[nodiscard]] eve::Result<void> advance(const eve::SimulationStep& step);
    void update(float dt);
 
    [[nodiscard]] AnimPose* getPose();
    [[nodiscard]] AnimPose* getTargetPose();
 
    [[nodiscard]] float getLeanX() const;
    [[nodiscard]] float getLeanZ() const;
    [[nodiscard]] float getLeanVelocityX() const;
    [[nodiscard]] float getLeanVelocityZ() const;
    [[nodiscard]] float getCenterOfMassX() const;
    [[nodiscard]] float getCenterOfMassY() const;
    [[nodiscard]] float getCenterOfMassZ() const;
    [[nodiscard]] float getSupportX() const;
    [[nodiscard]] float getSupportY() const;
    [[nodiscard]] float getSupportZ() const;
 
private:
    struct Recoil {
        float x = 0.f, y = 0.f, z = 0.f;
        float vx = 0.f, vy = 0.f, vz = 0.f;
        float pendingTx = 0.f, pendingTy = 0.f, pendingTz = 0.f;
    };
 
    void                    ensureBones();
    void                    resetDynamics();
    void                    writeOverlayPose();
    void                    refreshDiagnostics();
    void                    updateUnchecked(float dt);
    [[nodiscard]] bool      boneInRange(int boneIndex) const;
    [[nodiscard]] eve::Result<void> requireFinitePositive(const char* name, float value, bool allowZero);
 
    AnimSkeleton* skeleton_ = nullptr;
    AnimPose      pose_;
    AnimPose      target_;
 
    int   supportBone_ = 0;
    int   balanceBone_ = 0;
    float recoveryHz_  = 2.f;
    float recoveryZeta_ = 0.45f;
    float recoilHz_    = 4.f;
    float recoilZeta_  = 0.5f;
    float gravity_     = 9.81f;
    float pendulumHeight_ = 1.f;
    float inertia_     = 1.f;
    float recoilInertia_ = 0.15f;
    float maxLean_     = 0.7f;
 
    float leanX_ = 0.f, leanZ_ = 0.f;
    float leanVelX_ = 0.f, leanVelZ_ = 0.f;
    float pendingLeanTx_ = 0.f, pendingLeanTz_ = 0.f;
 
    float comX_ = 0.f, comY_ = 0.f, comZ_ = 0.f;
    float supportX_ = 0.f, supportY_ = 0.f, supportZ_ = 0.f;
 
    std::vector<float>  masses_;
    std::vector<Recoil> recoils_;
    bool                hasTarget_    = false;
    eve::SimulationTick lastTick_     = eve::SimulationTick::zero();
    bool                hasLastTick_  = false;
};
 
}  // namespace eve::animation