Skeleton2D.h

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#pragma once
 
#include "ik.hpp"
 
namespace eve::ik {
 
class Skeleton2D {
public:
    Skeleton2D();
    ~Skeleton2D() = default;
 
    Skeleton2D(const Skeleton2D &)            = delete;
    Skeleton2D &operator=(const Skeleton2D &) = delete;
 
    int createBone(int parentId, float length = 1.f);
 
    int getBoneCount() const;
    int getRootId() const { return 0; }
    int getParent(int boneId) const;
    int getChildCount(int boneId) const;
    int getChild(int boneId, int childIndex) const;
 
    float getLength(int boneId) const;
    void  setLength(int boneId, float length);
 
    void  setPosition(int boneId, float x, float y);
    float getX(int boneId) const;
    float getY(int boneId) const;
 
    void  setOrientation(int boneId, float x, float y);
    float getOrientationX(int boneId) const;
    float getOrientationY(int boneId) const;
 
    void  setRotation(int boneId, float angle);
    float getRotation(int boneId) const;
 
    void setConstraints(int boneId, float minAngle, float maxAngle);
    void clearConstraints(int boneId);
    bool hasConstraints(int boneId) const;
 
    void initStraightPose(float rootX = 0.f, float rootY = 0.f);
    void bind();
    void forwardKinematics();
    void updateRotations();
 
    float totalLengthTo(int boneId) const;
 
    ::ik::skeleton2d &native() { return sk_; }
    ::ik::ecs2d      &state() { return state_; }
    const ::ik::skeleton2d &native() const { return sk_; }
    const ::ik::ecs2d      &state() const { return state_; }
 
private:
    void ensureSorted();
    void ensureStateSize();
    ::ik::bone2d *boneAt(int boneId) const;
    void          requireBone(int boneId) const;
 
    ::ik::skeleton2d sk_;
    ::ik::ecs2d      state_;
};
 
}  // namespace eve::ik