// ----------------------------------------------------------------------------
ik_node_t* IKSolver::CreateIKNodeFromUrhoNode(const Node* node)
{
ik_node_t* ikNode = ik_node_create(node->GetID());
// Set initial position/rotation and pass in Node* as user data for later
ikNode->original_position = Vec3Urho2IK(node->GetWorldPosition());
ikNode->original_rotation = QuatUrho2IK(node->GetWorldRotation());
ikNode->user_data = (void*)node;
/*
* If Urho's node has an effector, also create and attach one to the
* library's node. At this point, the IKEffector component shouldn't be
* holding a reference to any internal effector. Check this for debugging
* purposes and log if it does.
*/
IKEffector* effector = node->GetComponent<IKEffector>();
if (effector != nullptr)
{
#ifdef DEBUG
if (effector->ikEffectorNode_ != NULL)
URHO3D_LOGWARNINGF("[ik] IKEffector (attached to node \"%s\") has a reference to a possibly invalid internal effector. Should be NULL.", effector->GetNode()->GetName().CString());
#endif
ik_effector_t* ikEffector = ik_effector_create();
ik_node_attach_effector(ikNode, ikEffector); // ownership of effector
effector->SetIKSolver(this);
effector->SetIKEffectorNode(ikNode);
}
// Exact same deal with the constraint
IKConstraint* constraint = node->GetComponent<IKConstraint>();
if (constraint != nullptr)
{
#ifdef DEBUG
if (constraint->ikConstraintNode_ != NULL)
URHO3D_LOGWARNINGF("[ik] IKConstraint (attached to node \"%s\") has a reference to a possibly invalid internal constraint. Should be NULL.", constraint->GetNode()->GetName().CString());
#endif
constraint->SetIKConstraintNode(ikNode);
}
return ikNode;
}
// ----------------------------------------------------------------------------
void IKSolver::BuildTreeToEffector(const Node* node)
{
// Check if the component that was added is an IK effector. If not, then it
// does not concern us.
IKEffector* effector = static_cast<IKEffector*>(node->GetComponent<IKEffector>());
if (effector == NULL || effector->GetType() != IKEffector::GetTypeStatic())
return;
// May need to build tree up to the node where this effector was added. Do
// this by following the chain of parent nodes until we hit a node that
// exists in the solver's tree. Then iterate backwards again and add each
// missing node to the solver's tree.
PODVector<const Node*> missingNodes;
const Node* iterNode = node;
ik_node_t* ikNode = ik_node_find_child(solver_->tree, node->GetID());
while (ikNode == NULL)
{
missingNodes.Push(iterNode);
iterNode = iterNode->GetParent();
ikNode = ik_node_find_child(solver_->tree, iterNode->GetID());
}
while (missingNodes.Size() > 0)
{
iterNode = missingNodes.Back();
missingNodes.Pop();
ik_node_t* ikChildNode = CreateIKNode(iterNode);
ik_node_add_child(ikNode, ikChildNode);
ikNode = ikChildNode;
}
// The tip of the tree is the effector. The solver library has ownership of
// the effector object, but our IKEffector object also needs to know about
// it.
ik_effector_t* ikEffector = ik_effector_create();
ik_node_attach_effector(ikNode, ikEffector); // ownership of effector
effector->SetIKEffector(ikEffector); // "weak" reference to effector
effector->SetIKSolver(this);
effectorList_.Push(effector);
MarkSolverTreeDirty();
}